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added new xmc irq sample and adopted old samples

pull/32/head
rtlaka 2017-10-25 20:28:13 +02:00
parent 59d38dca2c
commit 39fb2c91e7
22 changed files with 3327 additions and 297 deletions
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115
applications/linux_lan9252demo/slave.c
View File

@ -1,38 +1,57 @@
#include <stddef.h>
#include "utypes.h"
#include "soes/esc.h"
#include "soes/esc_coe.h"
#include "soes/esc_foe.h"
#include "esc.h"
#include "esc_coe.h"
#include "esc_foe.h"
#include "config.h"
#include "slave.h"
#ifndef EEP_EMULATION
#define EEP_EMULATION 0 /* Set to 1 for EEPROM emulation */
#endif
#define WATCHDOG_RESET_VALUE 150
#define DEFAULTTXPDOMAP 0x1a00
#define DEFAULTRXPDOMAP 0x1600
#define DEFAULTTXPDOITEMS 1
#define DEFAULTRXPDOITEMS 1
volatile _ESCvar ESCvar;
_MBX MBX[MBXBUFFERS];
_MBXcontrol MBXcontrol[MBXBUFFERS];
uint8_t MBXrun=0;
uint16_t SM2_sml,SM3_sml;
_Rbuffer Rb;
_Wbuffer Wb;
_Cbuffer Cb;
_App App;
uint16_t TXPDOsize,RXPDOsize;
/* Global variables used by the stack */
uint8_t MBX[MBXBUFFERS * MAX(MBXSIZE,MBXSIZEBOOT)];
_MBXcontrol MBXcontrol[MBXBUFFERS];
_ESCvar ESCvar;
/* Application variables */
_Rbuffer Rb;
_Wbuffer Wb;
_Cbuffer Cb;
/* Private variables */
uint16_t txpdomap = DEFAULTTXPDOMAP;
uint16_t rxpdomap = DEFAULTRXPDOMAP;
uint8_t txpdoitems = DEFAULTTXPDOITEMS;
uint8_t rxpdoitems = DEFAULTTXPDOITEMS;
static unsigned int watchdog = WATCHDOG_RESET_VALUE;
static int watchdog = WATCHDOG_RESET_VALUE;
static void (*application_loop_callback)(void) = NULL;
/** Function to pre-qualify the incoming SDO download.
*
* @param[in] index = index of SDO download request to check
* @param[in] sub-index = sub-index of SDO download request to check
* @return 1 if the SDO Download is correct. 0 If not correct.
*/
int ESC_pre_objecthandler (uint16_t index, uint8_t subindex)
{
if ((index == 0x1c12) && (subindex > 0) && (rxpdoitems != 0))
{
SDO_abort (index, subindex, ABORT_READONLY);
return 0;
}
if ((index == 0x1c13) && (subindex > 0) && (txpdoitems != 0))
{
SDO_abort (index, subindex, ABORT_READONLY);
return 0;
}
return 1;
}
/** Mandatory: Hook called from the slave stack SDO Download handler to act on
* user specified Index and Sub-index.
*
@ -54,7 +73,7 @@ void ESC_objecthandler (uint16_t index, uint8_t subindex)
{
rxpdomap = 0x1600;
}
RXPDOsize = SM2_sml = sizeRXPDO();
ESCvar.RXPDOsize = ESCvar.ESC_SM2_sml = sizeOfPDO(RX_PDO_OBJIDX);
break;
}
case 0x1c13:
@ -68,7 +87,7 @@ void ESC_objecthandler (uint16_t index, uint8_t subindex)
{
txpdomap = 0x1A00;
}
TXPDOsize = SM3_sml = sizeTXPDO();
ESCvar.TXPDOsize = ESCvar.ESC_SM3_sml = sizeOfPDO(TX_PDO_OBJIDX);
break;
}
/* Handle post-write of parameter values */
@ -100,13 +119,13 @@ void APP_safeoutput (void)
*/
void TXPDO_update (void)
{
ESC_write (SM3_sma, &Rb, TXPDOsize);
ESC_write (SM3_sma, &Rb, ESCvar.TXPDOsize);
}
/** Mandatory: Read Sync Manager 2 to local process data, Master Outputs.
*/
void RXPDO_update (void)
{
ESC_read (SM2_sma, &Wb, RXPDOsize);
ESC_read (SM2_sma, &Wb, ESCvar.RXPDOsize);
}
/** Mandatory: Function to update local I/O, call read ethercat outputs, call
@ -119,7 +138,7 @@ void DIG_process (void)
{
watchdog--;
}
if (App.state & APPSTATE_OUTPUT)
if (ESCvar.App.state & APPSTATE_OUTPUT)
{
/* SM2 trigger ? */
if (ESCvar.ALevent & ESCREG_ALEVENT_SM2)
@ -131,7 +150,7 @@ void DIG_process (void)
/* Set outputs */
cb_set_LEDs();
}
if (watchdog == 0)
if (watchdog <= 0)
{
DPRINT("DIG_process watchdog expired\n");
ESC_stopoutput();
@ -145,7 +164,7 @@ void DIG_process (void)
{
watchdog = WATCHDOG_RESET_VALUE;
}
if (App.state)
if (ESCvar.App.state)
{
/* Update inputs */
cb_get_Buttons();
@ -155,8 +174,6 @@ void DIG_process (void)
/********** TODO: Generic code beyond this point ***************/
static const char *spi_name = "/dev/lan9252";
/** Optional: Hook called after state change for application specific
* actions for specific state changes.
*/
@ -204,6 +221,8 @@ void soes (void)
/* Check the state machine */
ESC_state();
/* Check the SM activation event */
ESC_sm_act_event();
/* Check mailboxes */
if (ESC_mbxprocess())
@ -213,10 +232,6 @@ void soes (void)
ESC_xoeprocess();
}
DIG_process();
#if EEP_EMULATION
EEP_process ();
EEP_hw_process();
#endif /* EEP_EMULATION */
if (application_loop_callback != NULL)
{
@ -231,19 +246,39 @@ void soes_init (void)
{
DPRINT ("SOES (Simple Open EtherCAT Slave)\n");
TXPDOsize = SM3_sml = sizeTXPDO();
RXPDOsize = SM2_sml = sizeRXPDO();
ESCvar.TXPDOsize = ESCvar.ESC_SM3_sml = sizeOfPDO(TX_PDO_OBJIDX);
ESCvar.RXPDOsize = ESCvar.ESC_SM2_sml = sizeOfPDO(RX_PDO_OBJIDX);
/* Setup post config hooks */
/* Setup config hooks */
static esc_cfg_t config =
{
.pre_state_change_hook = NULL,
.post_state_change_hook = post_state_change_hook
.user_arg = "/dev/lan9252",
.use_interrupt = 0,
.watchdog_cnt = 0,
.mbxsize = MBXSIZE,
.mbxsizeboot = MBXSIZEBOOT,
.mbxbuffers = MBXBUFFERS,
.mb[0] = {MBX0_sma, MBX0_sml, MBX0_sme, MBX0_smc, 0},
.mb[1] = {MBX1_sma, MBX1_sml, MBX1_sme, MBX1_smc, 0},
.mb_boot[0] = {MBX0_sma_b, MBX0_sml_b, MBX0_sme_b, MBX0_smc_b, 0},
.mb_boot[1] = {MBX1_sma_b, MBX1_sml_b, MBX1_sme_b, MBX1_smc_b, 0},
.pdosm[0] = {SM2_sma, 0, 0, SM2_smc, SM2_act},
.pdosm[1] = {SM3_sma, 0, 0, SM3_smc, SM3_act},
.pre_state_change_hook = NULL,
.post_state_change_hook = NULL,
.application_hook = NULL,
.safeoutput_override = NULL,
.pre_object_download_hook = NULL,
.post_object_download_hook = NULL,
.rxpdo_override = NULL,
.txpdo_override = NULL,
.esc_hw_interrupt_enable = NULL,
.esc_hw_interrupt_disable = NULL,
.esc_hw_eep_handler = NULL
};
ESC_config ((esc_cfg_t *)&config);
ESC_reset();
ESC_init ((void *)spi_name);
ESC_config (&config);
ESC_init (&config);
/* wait until ESC is started up */
while ((ESCvar.DLstatus & 0x0001) == 0)

113
applications/rtl_lan9252demo/slave.c
View File

@ -1,38 +1,57 @@
#include <stddef.h>
#include "utypes.h"
#include "soes/esc.h"
#include "soes/esc_coe.h"
#include "soes/esc_foe.h"
#include "esc.h"
#include "esc_coe.h"
#include "esc_foe.h"
#include "config.h"
#include "slave.h"
#ifndef EEP_EMULATION
#define EEP_EMULATION 0 /* Set to 1 for EEPROM emulation */
#endif
#define WATCHDOG_RESET_VALUE 150
#define DEFAULTTXPDOMAP 0x1a00
#define DEFAULTRXPDOMAP 0x1600
#define DEFAULTTXPDOITEMS 1
#define DEFAULTRXPDOITEMS 1
volatile _ESCvar ESCvar;
_MBX MBX[MBXBUFFERS];
_MBXcontrol MBXcontrol[MBXBUFFERS];
uint8_t MBXrun=0;
uint16_t SM2_sml,SM3_sml;
_Rbuffer Rb;
_Wbuffer Wb;
_Cbuffer Cb;
_App App;
uint16_t TXPDOsize,RXPDOsize;
/* Global variables used by the stack */
uint8_t MBX[MBXBUFFERS * MAX(MBXSIZE,MBXSIZEBOOT)];
_MBXcontrol MBXcontrol[MBXBUFFERS];
_ESCvar ESCvar;
/* Application variables */
_Rbuffer Rb;
_Wbuffer Wb;
_Cbuffer Cb;
/* Private variables */
uint16_t txpdomap = DEFAULTTXPDOMAP;
uint16_t rxpdomap = DEFAULTRXPDOMAP;
uint8_t txpdoitems = DEFAULTTXPDOITEMS;
uint8_t rxpdoitems = DEFAULTTXPDOITEMS;
static unsigned int watchdog = WATCHDOG_RESET_VALUE;
static int watchdog = WATCHDOG_RESET_VALUE;
static void (*application_loop_callback)(void) = NULL;
/** Function to pre-qualify the incoming SDO download.
*
* @param[in] index = index of SDO download request to check
* @param[in] sub-index = sub-index of SDO download request to check
* @return 1 if the SDO Download is correct. 0 If not correct.
*/
int ESC_pre_objecthandler (uint16_t index, uint8_t subindex)
{
if ((index == 0x1c12) && (subindex > 0) && (rxpdoitems != 0))
{
SDO_abort (index, subindex, ABORT_READONLY);
return 0;
}
if ((index == 0x1c13) && (subindex > 0) && (txpdoitems != 0))
{
SDO_abort (index, subindex, ABORT_READONLY);
return 0;
}
return 1;
}
/** Mandatory: Hook called from the slave stack SDO Download handler to act on
* user specified Index and Sub-index.
*
@ -54,7 +73,7 @@ void ESC_objecthandler (uint16_t index, uint8_t subindex)
{
rxpdomap = 0x1600;
}
RXPDOsize = SM2_sml = sizeRXPDO();
ESCvar.RXPDOsize = ESCvar.ESC_SM2_sml = sizeOfPDO(RX_PDO_OBJIDX);
break;
}
case 0x1c13:
@ -68,7 +87,7 @@ void ESC_objecthandler (uint16_t index, uint8_t subindex)
{
txpdomap = 0x1A00;
}
TXPDOsize = SM3_sml = sizeTXPDO();
ESCvar.TXPDOsize = ESC_SM3_sml = sizeOfPDO(TX_PDO_OBJIDX);
break;
}
/* Handle post-write of parameter values */
@ -100,13 +119,13 @@ void APP_safeoutput (void)
*/
void TXPDO_update (void)
{
ESC_write (SM3_sma, &Rb, TXPDOsize);
ESC_write (SM3_sma, &Rb, ESCvar.TXPDOsize);
}
/** Mandatory: Read Sync Manager 2 to local process data, Master Outputs.
*/
void RXPDO_update (void)
{
ESC_read (SM2_sma, &Wb, RXPDOsize);
ESC_read (SM2_sma, &Wb, ESCvar.RXPDOsize);
}
/** Mandatory: Function to update local I/O, call read ethercat outputs, call
@ -119,7 +138,7 @@ void DIG_process (void)
{
watchdog--;
}
if (App.state & APPSTATE_OUTPUT)
if (ESCvar.App.state & APPSTATE_OUTPUT)
{
/* SM2 trigger ? */
if (ESCvar.ALevent & ESCREG_ALEVENT_SM2)
@ -131,7 +150,7 @@ void DIG_process (void)
/* Set outputs */
cb_set_LEDs();
}
if (watchdog == 0)
if (watchdog <= 0)
{
DPRINT("DIG_process watchdog expired\n");
ESC_stopoutput();
@ -145,7 +164,7 @@ void DIG_process (void)
{
watchdog = WATCHDOG_RESET_VALUE;
}
if (App.state)
if (ESCvar.App.state)
{
/* Update inputs */
cb_get_Buttons();
@ -155,8 +174,6 @@ void DIG_process (void)
/********** TODO: Generic code beyond this point ***************/
static const char *spi_name = "/spi1/lan9252";
/** Optional: Hook called after state change for application specific
* actions for specific state changes.
*/
@ -213,10 +230,6 @@ void soes (void)
ESC_xoeprocess();
}
DIG_process();
#if EEP_EMULATION
EEP_process ();
EEP_hw_process();
#endif /* EEP_EMULATION */
if (application_loop_callback != NULL)
{
@ -231,19 +244,39 @@ void soes_init (void)
{
DPRINT ("SOES (Simple Open EtherCAT Slave)\n");
TXPDOsize = SM3_sml = sizeTXPDO();
RXPDOsize = SM2_sml = sizeRXPDO();
ESCvar.TXPDOsize = ESCvar.ESC_SM3_sml = sizeOfPDO(TX_PDO_OBJIDX);
ESCvar.RXPDOsize = ESCvar.ESC_SM2_sml = sizeOfPDO(RX_PDO_OBJIDX);
/* Setup post config hooks */
/* Setup config hooks */
static esc_cfg_t config =
{
.pre_state_change_hook = NULL,
.post_state_change_hook = post_state_change_hook
.user_arg = "/spi1/lan9252",
.use_interrupt = 0,
.watchdog_cnt = 0,
.mbxsize = MBXSIZE,
.mbxsizeboot = MBXSIZEBOOT,
.mbxbuffers = MBXBUFFERS,
.mb[0] = {MBX0_sma, MBX0_sml, MBX0_sme, MBX0_smc, 0},
.mb[1] = {MBX1_sma, MBX1_sml, MBX1_sme, MBX1_smc, 0},
.mb_boot[0] = {MBX0_sma_b, MBX0_sml_b, MBX0_sme_b, MBX0_smc_b, 0},
.mb_boot[1] = {MBX1_sma_b, MBX1_sml_b, MBX1_sme_b, MBX1_smc_b, 0},
.pdosm[0] = {SM2_sma, 0, 0, SM2_smc, SM2_act},
.pdosm[1] = {SM3_sma, 0, 0, SM3_smc, SM3_act},
.pre_state_change_hook = NULL,
.post_state_change_hook = NULL,
.application_hook = NULL,
.safeoutput_override = NULL,
.pre_object_download_hook = NULL,
.post_object_download_hook = NULL,
.rxpdo_override = NULL,
.txpdo_override = NULL,
.esc_hw_interrupt_enable = NULL,
.esc_hw_interrupt_disable = NULL,
.esc_hw_eep_handler = NULL
};
ESC_config ((esc_cfg_t *)&config);
ESC_reset();
ESC_init ((void *)spi_name);
ESC_config (&config);
ESC_init (&config);
/* wait until ESC is started up */
while ((ESCvar.DLstatus & 0x0001) == 0)

94
applications/rtl_slavedemo/soes.c
View File

@ -17,6 +17,7 @@
#include <esc_coe.h>
#include <esc_foe.h>
#include "utypes.h"
#include "config.h"
#include "bootstrap.h"
#define WD_RESET 1000
@ -28,16 +29,17 @@
uint32_t encoder_scale;
uint32_t encoder_scale_mirror;
volatile _ESCvar ESCvar;
_MBX MBX[MBXBUFFERS];
_MBXcontrol MBXcontrol[MBXBUFFERS];
uint8_t MBXrun=0;
uint16_t SM2_sml,SM3_sml;
_Rbuffer Rb;
_Wbuffer Wb;
_Cbuffer Cb;
_App App;
uint16_t TXPDOsize,RXPDOsize;
/* Global variables used by the stack */
uint8_t MBX[MBXBUFFERS * MAX(MBXSIZE,MBXSIZEBOOT)];
_MBXcontrol MBXcontrol[MBXBUFFERS];
_ESCvar ESCvar;
/* Application variables */
_Rbuffer Rb;
_Wbuffer Wb;
_Cbuffer Cb;
/* Private variables */
int wd_cnt = WD_RESET;
volatile uint8_t digoutput;
volatile uint8_t diginput;
@ -49,7 +51,27 @@ uint8_t rxpdoitems = DEFAULTTXPDOITEMS;
extern uint32_t local_boot_state;
static const char *spi_name = "/spi0/et1100";
/** Function to pre-qualify the incoming SDO download.
*
* @param[in] index = index of SDO download request to check
* @param[in] sub-index = sub-index of SDO download request to check
* @return 1 if the SDO Download is correct. 0 If not correct.
*/
int ESC_pre_objecthandler (uint16_t index, uint8_t subindex)
{
if ((index == 0x1c12) && (subindex > 0) && (rxpdoitems != 0))
{
SDO_abort (index, subindex, ABORT_READONLY);
return 0;
}
if ((index == 0x1c13) && (subindex > 0) && (txpdoitems != 0))
{
SDO_abort (index, subindex, ABORT_READONLY);
return 0;
}
return 1;
}
/** Mandatory: Hook called from the slave stack SDO Download handler to act on
* user specified Index and Sub-index.
@ -72,7 +94,7 @@ void ESC_objecthandler (uint16_t index, uint8_t subindex)
{
rxpdomap = 0x1600;
}
RXPDOsize = SM2_sml = sizeRXPDO ();
ESCvar.RXPDOsize = ESCvar.ESC_SM2_sml = sizeOfPDO(RX_PDO_OBJIDX);
break;
}
case 0x1c13:
@ -86,7 +108,7 @@ void ESC_objecthandler (uint16_t index, uint8_t subindex)
{
txpdomap = 0x1A00;
}
TXPDOsize = SM3_sml = sizeTXPDO ();
ESCvar.TXPDOsize = ESCvar.ESC_SM3_sml = sizeOfPDO(TX_PDO_OBJIDX);
break;
}
case 0x7100:
@ -129,13 +151,13 @@ void APP_safeoutput (void)
*/
void TXPDO_update (void)
{
ESC_write (SM3_sma, &Rb.button, TXPDOsize);
ESC_write (SM3_sma, &Rb.button, ESCvar.TXPDOsize);
}
/** Mandatory: Read Sync Manager 2 to local process data, Master Outputs.
*/
void RXPDO_update (void)
{
ESC_read (SM2_sma, &Wb.LED, RXPDOsize);
ESC_read (SM2_sma, &Wb.LED, ESCvar.RXPDOsize);
}
/** Mandatory: Function to update local I/O, call read ethercat outputs, call
@ -148,7 +170,7 @@ void DIG_process (void)
{
wd_cnt--;
}
if (App.state & APPSTATE_OUTPUT)
if (ESCvar.App.state & APPSTATE_OUTPUT)
{
/* SM2 trigger ? */
if (ESCvar.ALevent & ESCREG_ALEVENT_SM2)
@ -173,7 +195,7 @@ void DIG_process (void)
{
wd_cnt = WD_RESET;
}
if (App.state)
if (ESCvar.App.state)
{
//Rb.button = gpio_get(GPIO_WAKEUP);
Rb.button = (flash_drv_get_active_swap() && 0x8);
@ -209,19 +231,39 @@ void soes (void *arg)
{
DPRINT ("SOES (Simple Open EtherCAT Slave)\n");
TXPDOsize = SM3_sml = sizeTXPDO ();
RXPDOsize = SM2_sml = sizeRXPDO ();
ESCvar.TXPDOsize = ESCvar.ESC_SM3_sml = sizeOfPDO(TX_PDO_OBJIDX);
ESCvar.RXPDOsize = ESCvar.ESC_SM2_sml = sizeOfPDO(RX_PDO_OBJIDX);
/* Setup post config hooks */
/* Setup config hooks */
static esc_cfg_t config =
{
.pre_state_change_hook = NULL,
.post_state_change_hook = post_state_change_hook
.user_arg = "/spi0/et1100",
.use_interrupt = 0,
.watchdog_cnt = 0,
.mbxsize = MBXSIZE,
.mbxsizeboot = MBXSIZEBOOT,
.mbxbuffers = MBXBUFFERS,
.mb[0] = {MBX0_sma, MBX0_sml, MBX0_sme, MBX0_smc, 0},
.mb[1] = {MBX1_sma, MBX1_sml, MBX1_sme, MBX1_smc, 0},
.mb_boot[0] = {MBX0_sma_b, MBX0_sml_b, MBX0_sme_b, MBX0_smc_b, 0},
.mb_boot[1] = {MBX1_sma_b, MBX1_sml_b, MBX1_sme_b, MBX1_smc_b, 0},
.pdosm[0] = {SM2_sma, 0, 0, SM2_smc, SM2_act},
.pdosm[1] = {SM3_sma, 0, 0, SM3_smc, SM3_act},
.pre_state_change_hook = NULL,
.post_state_change_hook = NULL,
.application_hook = NULL,
.safeoutput_override = NULL,
.pre_object_download_hook = NULL,
.post_object_download_hook = NULL,
.rxpdo_override = NULL,
.txpdo_override = NULL,
.esc_hw_interrupt_enable = NULL,
.esc_hw_interrupt_disable = NULL,
.esc_hw_eep_handler = NULL
};
ESC_config ((esc_cfg_t *)&config);
ESC_reset();
ESC_init (spi_name);
ESC_config (&config);
ESC_init (&config);
task_delay (tick_from_ms (200));

35
applications/rtl_xmc4_irq/config.h 100644
View File

@ -0,0 +1,35 @@
#ifndef __CONFIG_H__
#define __CONFIG_H__
#include <cc.h>
#define MBXSIZE 128
#define MBXSIZEBOOT 256
#define MBXBUFFERS 3
#define MBX0_sma 0x1000
#define MBX0_sml MBXSIZE
#define MBX0_sme MBX0_sma+MBX0_sml-1
#define MBX0_smc 0x26
#define MBX1_sma MBX0_sma+MBX0_sml
#define MBX1_sml MBXSIZE
#define MBX1_sme MBX1_sma+MBX1_sml-1
#define MBX1_smc 0x22
#define MBX0_sma_b 0x1000
#define MBX0_sml_b MBXSIZEBOOT
#define MBX0_sme_b MBX0_sma_b+MBX0_sml_b-1
#define MBX0_smc_b 0x26
#define MBX1_sma_b MBX0_sma_b+MBX0_sml_b
#define MBX1_sml_b MBXSIZEBOOT
#define MBX1_sme_b MBX1_sma_b+MBX1_sml_b-1
#define MBX1_smc_b 0x22
#define SM2_sma 0x1100
#define SM2_smc 0x24
#define SM2_act 1
#define SM3_sma 0x1180
#define SM3_smc 0x20
#define SM3_act 1
#endif /* __CONFIG_H__ */

184
applications/rtl_xmc4_irq/main.c 100644
View File

@ -0,0 +1,184 @@
#include <kern.h>
#include <xmc4.h>
#include <bsp.h>
#include "slave.h"
#include "esc_hw.h"
#include "config.h"
#define SAMPLE_CODE 0
/**
* This function reads physical input values and assigns the corresponding members
* of Rb.Buttons
*/
void cb_get_Buttons()
{
Rb.Buttons.Button1 = gpio_get(GPIO_BUTTON1);
}
/**
* This function writes physical output values from the corresponding members of
* Wb.LEDs
*/
void cb_set_LEDgroup0()
{
gpio_set(GPIO_LED1, Wb.LEDgroup0.LED0);
}
/**
* This function writes physical output values from the corresponding members of
* Wb.LEDs
*/
void cb_set_LEDgroup1()
{
gpio_set(GPIO_LED2, Wb.LEDgroup1.LED1);
}
/**
* This function is called after a SDO write of the object Cb.Parameters.
*/
void cb_post_write_variableRW(int subindex)
{
}
/** Optional: Hook called after state change for application specific
* actions for specific state changes.
*/
void pre_state_change_hook (uint8_t * as, uint8_t * an)
{
}
/** Optional: Hook called after state change for application specific
* actions for specific state changes.
*/
void post_state_change_hook (uint8_t * as, uint8_t * an)
{
#if SAMPLE_CODE
/* Add specific step change hooks here */
if ((*as == BOOT_TO_INIT) && (*an == ESCinit))
{
rprintf("boot BOOT_TO_INIT\n");
upgrade_finished();
/* If we return here */
ESC_ALerror (ALERR_NOVALIDFIRMWARE);
/* Upgrade failed, enter init with error */
*an = (ESCinit | ESCerror);
}
else if((*as == PREOP_TO_SAFEOP))
{
rprintf("boot PREOP_TO_SAFEOP\n");
ESC_ALerror (ALERR_NOVALIDFIRMWARE);
/* Stay in preop with error bit set */
*an = (ESCpreop | ESCerror);
}
#endif
}
void user_post_dl_objecthandler (uint16_t index, uint8_t subindex)
{
#if SAMPLE_CODE
switch (index)
{
case 0x1c12:
{
RXPDOsize = ESC_SM2_sml = sizeRXPDO();
break;
}
/* Handle post-write of parameter values */
default:
break;
}
#endif
}
int user_pre_dl_objecthandler (uint16_t index, uint8_t subindex)
{
#if SAMPLE_CODE
if (index == 0x1c12)
{
SDO_abort (index, subindex, ABORT_READONLY);
return 0;
}
if (index == 0x1c13)
{
SDO_abort (index, subindex, ABORT_READONLY);
return 0;
}
#endif
return 1;
}
/* Called from stack when stopping outputs */
void user_safeoutput (void)
{
#if SAMPLE_CODE
DPRINT ("APP_safeoutput\n");
// Set safe values for Wb.LEDgroup0
Wb.LEDgroup0.LED0 = 1;
// Set safe values for Wb.LEDgroup1
Wb.LEDgroup1.LED1 = 1;
#endif
}
/* Configuration parameters for SOES
* SM and Mailbox parameters comes from the
* generated config.h
*/
static esc_cfg_t config =
{
.user_arg = NULL,
.use_interrupt = 1,
.watchdog_cnt = 100,
.mbxsize = MBXSIZE,
.mbxsizeboot = MBXSIZEBOOT,
.mbxbuffers = MBXBUFFERS,
.mb[0] = {MBX0_sma, MBX0_sml, MBX0_sme, MBX0_smc, 0},
.mb[1] = {MBX1_sma, MBX1_sml, MBX1_sme, MBX1_smc, 0},
.mb_boot[0] = {MBX0_sma_b, MBX0_sml_b, MBX0_sme_b, MBX0_smc_b, 0},
.mb_boot[1] = {MBX1_sma_b, MBX1_sml_b, MBX1_sme_b, MBX1_smc_b, 0},
.pdosm[0] = {SM2_sma, 0, 0, SM2_smc, SM2_act},
.pdosm[1] = {SM3_sma, 0, 0, SM3_smc, SM3_act},
.pre_state_change_hook = NULL,
.post_state_change_hook = NULL,
.application_hook = NULL,
.safeoutput_override = user_safeoutput,
.pre_object_download_hook = user_pre_dl_objecthandler,
.post_object_download_hook = user_post_dl_objecthandler,
.rxpdo_override = NULL,
.txpdo_override = NULL,
.esc_hw_interrupt_enable = ESC_interrupt_enable,
.esc_hw_interrupt_disable = ESC_interrupt_disable,
.esc_hw_eep_handler = ESC_eep_handler
};
void main_run(void * arg)
{
ecat_slv_init(&config);
while(1)
{
if(config.use_interrupt != 0)
{
DIG_process(DIG_PROCESS_WD_FLAG);
}
else
{
ecat_slv();
}
task_delay(1);
}
}
int main(void)
{
rprintf("Hello Main\n");
task_spawn ("soes", main_run, 8, 2048, NULL);
return 0;
}

BIN
applications/rtl_xmc4_irq/slave.bin 100644
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327
applications/rtl_xmc4_irq/slave.c 100644
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@ -0,0 +1,327 @@
#ifndef SOES_V1
#include <stddef.h>
#include "utypes.h"
#include "esc.h"
#include "esc_coe.h"
#include "esc_foe.h"
#include "config.h"
#include "slave.h"
/* Global variables used by the stack */
uint8_t MBX[MBXBUFFERS * MAX(MBXSIZE,MBXSIZEBOOT)];
_MBXcontrol MBXcontrol[MBXBUFFERS];
_ESCvar ESCvar;
/* Application variables */
_Rbuffer Rb;
_Wbuffer Wb;
_Cbuffer Cb;
_Mbuffer Mb;
/* Private variables */
static volatile int watchdog;
/** Mandatory: Function to pre-qualify the incoming SDO download.
*
* @param[in] index = index of SDO download request to check
* @param[in] sub-index = sub-index of SDO download request to check
* @return 1 if the SDO Download is correct. 0 If not correct.
*/
int ESC_pre_objecthandler (uint16_t index, uint8_t subindex)
{
int result = 1;
if(ESCvar.pre_object_download_hook)
{
result = (ESCvar.pre_object_download_hook)(index, subindex);
}
return result;
}
/** Mandatory: Hook called from the slave stack SDO Download handler to act on
* user specified Index and Sub-index.
*
* @param[in] index = index of SDO download request to handle
* @param[in] sub-index = sub-index of SDO download request to handle
*/
void ESC_objecthandler (uint16_t index, uint8_t subindex)
{
switch (index)
{
/* Handle post-write of parameter values */
case 0x8001:
{
cb_post_write_variableRW(subindex);
break;
}
default:
{
if(ESCvar.post_object_download_hook != NULL)
{
(ESCvar.post_object_download_hook)(index, subindex);
}
break;
}
}
}
/** Mandatory: Hook called from the slave stack ESC_stopoutputs to act on state changes
* forcing us to stop outputs. Here we can set them to a safe state.
* set
*/
void APP_safeoutput (void)
{
DPRINT ("APP_safeoutput\n");
if(ESCvar.safeoutput_override != NULL)
{
(ESCvar.safeoutput_override)();
}
else
{
// Set safe values for Wb.LEDgroup0
Wb.LEDgroup0.LED0 = 0;
// Set safe values for Wb.LEDgroup1
Wb.LEDgroup1.LED1 = 0;
}
}
/** Mandatory: Write local process data to Sync Manager 3, Master Inputs.
*/
void TXPDO_update (void)
{
if(ESCvar.txpdo_override != NULL)
{
(ESCvar.txpdo_override)();
}
else
{
ESC_write (SM3_sma, &Rb, ESCvar.TXPDOsize);
}
}
/** Mandatory: Read Sync Manager 2 to local process data, Master Outputs.
*/
void RXPDO_update (void)
{
if(ESCvar.rxpdo_override != NULL)
{
(ESCvar.rxpdo_override)();
}
else
{
ESC_read (SM2_sma, &Wb, ESCvar.RXPDOsize);
}
}
/** Mandatory: Function to update local I/O, call read ethercat outputs, call
* write ethercat inputs. Implement watch-dog counter to count-out if we have
* made state change affecting the App.state.
*/
void DIG_process (uint8_t flags)
{
/* Handle watchdog */
if((flags & DIG_PROCESS_WD_FLAG) > 0)
{
if (CC_ATOMIC_GET(watchdog) > 0)
{
CC_ATOMIC_SUB(watchdog, 1);
}
if ((CC_ATOMIC_GET(watchdog) <= 0) &&
((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0))
{
DPRINT("DIG_process watchdog expired\n");
ESC_stopoutput();
/* watchdog, invalid outputs */
ESC_ALerror (ALERR_WATCHDOG);
/* goto safe-op with error bit set */
ESC_ALstatus (ESCsafeop | ESCerror);
}
else if(((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) == 0))
{
CC_ATOMIC_SET(watchdog, ESCvar.watchdogcnt);
}
}
/* Handle Outputs */
if ((flags & DIG_PROCESS_OUTPUTS_FLAG) > 0)
{
if(((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0) &&
(ESCvar.ALevent & ESCREG_ALEVENT_SM2))
{
RXPDO_update();
CC_ATOMIC_SET(watchdog, ESCvar.watchdogcnt);
if(ESCvar.dcsync > 0)
{
CC_ATOMIC_ADD(ESCvar.synccounter,1);
}
/* Set outputs */
cb_set_LEDgroup0();
cb_set_LEDgroup1();
}
else if (ESCvar.ALevent & ESCREG_ALEVENT_SM2)
{
RXPDO_update();
}
}
/* Call application */
if ((flags & DIG_PROCESS_APP_HOOK_FLAG) > 0)
{
if((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0)
{
CC_ATOMIC_SUB(ESCvar.synccounter,1);
}
if((ESCvar.dcsync > 0) &&
((CC_ATOMIC_GET(ESCvar.synccounter) < -ESCvar.synccounterlimit) ||
(CC_ATOMIC_GET(ESCvar.synccounter) > ESCvar.synccounterlimit)))
{
if((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0)
{
DPRINT("sync error = %d\n", ESCvar.synccounter);
ESC_stopoutput();
/* Sync error */
ESC_ALerror (ALERR_SYNCERROR);
/* goto safe-op with error bit set */
ESC_ALstatus (ESCsafeop | ESCerror);
CC_ATOMIC_SET(ESCvar.synccounter, 0);
}
}
/* Call application callback if set */
if (ESCvar.application_hook != NULL)
{
(ESCvar.application_hook)();
}
}
/* Handle Inputs */
if ((flags & DIG_PROCESS_INPUTS_FLAG) > 0)
{
if(CC_ATOMIC_GET(ESCvar.App.state) > 0)
{
/* Update inputs */
cb_get_Buttons();
TXPDO_update();
}
}
}
/**
* ISR function. It should be called from ISR for applications entirely driven by
* interrupts.
* Read and handle events for the EtherCAT state, status, mailbox and eeprom.
*/
void ecat_slv_isr (void)
{
do
{
/* Check the state machine */
ESC_state();
/* Check the SM activation event */
ESC_sm_act_event();
/* Check mailboxes */
while ((ESC_mbxprocess() > 0) || (ESCvar.txcue > 0))
{
ESC_coeprocess();
ESC_foeprocess();
ESC_xoeprocess();
}
/* Call emulated eeprom handler if set */
if (ESCvar.esc_hw_eep_handler != NULL)
{
(ESCvar.esc_hw_eep_handler)();
}
CC_ATOMIC_SET(ESCvar.ALevent,ESC_ALeventread());
}while(ESCvar.ALevent & (ESCREG_ALEVENT_CONTROL | ESCREG_ALEVENT_SMCHANGE
| ESCREG_ALEVENT_SM0 | ESCREG_ALEVENT_SM1 | ESCREG_ALEVENT_EEP));
ESC_ALeventmaskwrite(ESC_ALeventmaskread()
| (ESCREG_ALEVENT_CONTROL | ESCREG_ALEVENT_SMCHANGE
| ESCREG_ALEVENT_SM0 | ESCREG_ALEVENT_SM1
| ESCREG_ALEVENT_EEP));
}
/**
* Polling function. It should be called periodically for an application
* when only SM2/DC interrupt is active.
* Read and handle events for the EtherCAT state, status, mailbox and eeprom.
*/
void ecat_slv_poll (void)
{
/* Read local time from ESC*/
ESC_read (ESCREG_LOCALTIME, (void *) &ESCvar.Time, sizeof (ESCvar.Time));
ESCvar.Time = etohl (ESCvar.Time);
/* Check the state machine */
ESC_state();
/* Check the SM activation event */
ESC_sm_act_event();
/* Check mailboxes */
if (ESC_mbxprocess())
{
ESC_coeprocess();
ESC_foeprocess();
ESC_xoeprocess();
}
/* Call emulated eeprom handler if set */
if (ESCvar.esc_hw_eep_handler != NULL)
{
(ESCvar.esc_hw_eep_handler)();
}
}
void ecat_slv (void)
{
ecat_slv_poll();
DIG_process(DIG_PROCESS_WD_FLAG | DIG_PROCESS_OUTPUTS_FLAG |
DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
}
/**
* Initialize the slave stack.
*/
void ecat_slv_init (esc_cfg_t * config)
{
DPRINT ("Slave stack init started\n");
ESCvar.TXPDOsize = ESCvar.ESC_SM3_sml = sizeOfPDO(TX_PDO_OBJIDX);
ESCvar.RXPDOsize = ESCvar.ESC_SM2_sml = sizeOfPDO(RX_PDO_OBJIDX);
/* Init watchdog */
watchdog = config->watchdog_cnt;
/* Call stack configuration */
ESC_config (config);
/* Call HW init */
ESC_init (config);
/* wait until ESC is started up */
while ((ESCvar.DLstatus & 0x0001) == 0)
{
ESC_read (ESCREG_DLSTATUS, (void *) &ESCvar.DLstatus,
sizeof (ESCvar.DLstatus));
ESCvar.DLstatus = etohs (ESCvar.DLstatus);
}
/* Init FoE */
FOE_init();
/* reset ESC to init state */
ESC_ALstatus (ESCinit);
ESC_ALerror (ALERR_NONE);
ESC_stopmbx();
ESC_stopinput();
ESC_stopoutput();
}
#endif

739
applications/rtl_xmc4_irq/slave.esx 100644
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@ -0,0 +1,739 @@
<?xml version="1.0" encoding="UTF-8"?>
<Slave fileVersion="1" id="xmc43_slave" productCode="4300">
<Name>xmc43relax</Name>
<Vendor>
<Id>0x1337</Id>
<Name>rt-labs</Name>
</Vendor>
<Group>
<Type>xmc4</Type>
<Name>xmc4</Name>
</Group>
<Fmmu>Outputs</Fmmu>
<Fmmu>Inputs</Fmmu>
<Fmmu>MBoxState</Fmmu>
<Sm ControlByte="0x26" DefaultSize="128" StartAddress="0x1000">MBoxOut</Sm>
<Sm ControlByte="0x22" DefaultSize="128" StartAddress="0x1080">MBoxIn</Sm>
<Sm ControlByte="0x24" DefaultSize="0" StartAddress="0x1100">Outputs</Sm>
<Sm ControlByte="0x20" DefaultSize="0" StartAddress="0x1180">Inputs</Sm>
<Mailbox CoE="true" FoE="true">
<Bootstrap Length="256" Start="0x1000"/>
<Standard Length="128" Start="0x1000"/>
</Mailbox>
<Eeprom>
<ConfigData>8006810600000000</ConfigData>
<BootStrap>0010000100110001</BootStrap>
</Eeprom>
<Dictionary>
<Item>
<Name>Device Type</Name>
<Index>0x1000</Index>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0x00001389</DefaultValue>
</Item>
<Item Managed="true">
<Name>Device Name</Name>
<Index>0x1008</Index>
<DataType>VISIBLE_STRING</DataType>
<DefaultValue>xmc43_slave</DefaultValue>
</Item>
<Item>
<Name>Hardware Version</Name>
<Index>0x1009</Index>
<DataType>VISIBLE_STRING</DataType>
<DefaultValue>1.0</DefaultValue>
</Item>
<Item>
<Name>Software Version</Name>
<Index>0x100A</Index>
<DataType>VISIBLE_STRING</DataType>
<DefaultValue>1.0</DefaultValue>
</Item>
<Item Managed="true">
<Name>Identity Object</Name>
<Index>0x1018</Index>
<DataType>RECORD</DataType>
<SubItem>
<Name>Max SubIndex</Name>
<Index>0x00</Index>
<DataType>UNSIGNED8</DataType>
<DefaultValue>4</DefaultValue>
</SubItem>
<SubItem>
<Name>Vendor ID</Name>
<Index>0x01</Index>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0x1337</DefaultValue>
</SubItem>
<SubItem>
<Name>Product Code</Name>
<Index>0x02</Index>
<DataType>UNSIGNED32</DataType>
<DefaultValue>4300</DefaultValue>
</SubItem>
<SubItem>
<Name>Revision Number</Name>
<Index>0x03</Index>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0</DefaultValue>
</SubItem>
<SubItem>
<Name>Serial Number</Name>
<Index>0x04</Index>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0x00000000</DefaultValue>
</SubItem>
</Item>
<Item Managed="true">
<Name>ErrorSettings</Name>
<Index>0x10F1</Index>
<DataType>RECORD</DataType>
<Variable>ErrorSettings</Variable>
<VariableType>Manufacturer</VariableType>
<SubItem>
<Name>Max SubIndex</Name>
<Index>0x00</Index>
<DataType>UNSIGNED8</DataType>
<DefaultValue>2</DefaultValue>
</SubItem>
<SubItem>
<Name>Dummy_x01</Name>
<Index>0x01</Index>
<DataType>UNSIGNED8</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<Variable>Dummy_x01</Variable>
<VariableType>Manufacturer</VariableType>
</SubItem>
<SubItem>
<Name>SyncErrorCounterLimit</Name>
<Index>0x02</Index>
<DataType>UNSIGNED16</DataType>
<DefaultValue>2</DefaultValue>
<Access>RW</Access>
<Variable>SyncErrorCounterLimit</Variable>
<VariableType>Manufacturer</VariableType>
</SubItem>
</Item>
<Item Managed="true">
<Name>LEDgroup0</Name>
<Index>0x1600</Index>
<DataType>RECORD</DataType>
<SubItem>
<Name>Max SubIndex</Name>
<Index>0x00</Index>
<DataType>UNSIGNED8</DataType>
<DefaultValue>1</DefaultValue>
</SubItem>
<SubItem>
<Name>LED0</Name>
<Index>0x01</Index>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0x70050108</DefaultValue>
</SubItem>
</Item>
<Item Managed="true">
<Name>LEDgroup1</Name>
<Index>0x1601</Index>
<DataType>RECORD</DataType>
<SubItem>
<Name>Max SubIndex</Name>
<Index>0x00</Index>
<DataType>UNSIGNED8</DataType>
<DefaultValue>1</DefaultValue>
</SubItem>
<SubItem>
<Name>LED1</Name>
<Index>0x01</Index>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0x70060108</DefaultValue>
</SubItem>
</Item>
<Item Managed="true">
<Name>Buttons</Name>
<Index>0x1A00</Index>
<DataType>RECORD</DataType>
<SubItem>
<Name>Max SubIndex</Name>
<Index>0x00</Index>
<DataType>UNSIGNED8</DataType>
<DefaultValue>1</DefaultValue>
</SubItem>
<SubItem>
<Name>Button1</Name>
<Index>0x01</Index>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0x60050108</DefaultValue>
</SubItem>
</Item>
<Item Managed="true">
<Name>Sync Manager Communication Type</Name>
<Index>0x1C00</Index>
<DataType>ARRAY</DataType>
<SubItem>
<Name>Max SubIndex</Name>
<Index>0x00</Index>
<DataType>UNSIGNED8</DataType>
<DefaultValue>4</DefaultValue>
</SubItem>
<SubItem>
<Name>Communications Type SM0</Name>
<Index>0x01</Index>
<DataType>UNSIGNED8</DataType>
<DefaultValue>1</DefaultValue>
</SubItem>
<SubItem>
<Name>Communications Type SM1</Name>
<Index>0x02</Index>
<DataType>UNSIGNED8</DataType>
<DefaultValue>2</DefaultValue>
</SubItem>
<SubItem>
<Name>Communications Type SM2</Name>
<Index>0x03</Index>
<DataType>UNSIGNED8</DataType>
<DefaultValue>3</DefaultValue>
</SubItem>
<SubItem>
<Name>Communications Type SM3</Name>
<Index>0x04</Index>
<DataType>UNSIGNED8</DataType>
<DefaultValue>4</DefaultValue>
</SubItem>
</Item>
<Item Managed="true">
<Name>Sync Manager 2 PDO Assignment</Name>
<Index>0x1C12</Index>
<DataType>ARRAY</DataType>
<SubItem>
<Name>Max SubIndex</Name>
<Index>0x00</Index>
<DataType>UNSIGNED8</DataType>
<DefaultValue>2</DefaultValue>
</SubItem>
<SubItem>
<Name>PDO Mapping</Name>
<Index>0x01</Index>
<DataType>UNSIGNED16</DataType>
<DefaultValue>0x1600</DefaultValue>
</SubItem>
<SubItem>
<Name>PDO Mapping</Name>
<Index>0x02</Index>
<DataType>UNSIGNED16</DataType>
<DefaultValue>0x1601</DefaultValue>
</SubItem>
</Item>
<Item Managed="true">
<Name>Sync Manager 3 PDO Assignment</Name>
<Index>0x1C13</Index>
<DataType>ARRAY</DataType>
<SubItem>
<Name>Max SubIndex</Name>
<Index>0x00</Index>
<DataType>UNSIGNED8</DataType>
<DefaultValue>1</DefaultValue>
</SubItem>
<SubItem>
<Name>PDO Mapping</Name>
<Index>0x01</Index>
<DataType>UNSIGNED16</DataType>
<DefaultValue>0x1A00</DefaultValue>
</SubItem>
</Item>
<Item Managed="true">
<Name>SyncMgrParam</Name>
<Index>0x1C32</Index>
<DataType>RECORD</DataType>
<Variable>SyncMgrParam</Variable>
<VariableType>Manufacturer</VariableType>
<SubItem>
<Name>Max SubIndex</Name>
<Index>0x00</Index>
<DataType>UNSIGNED8</DataType>
<DefaultValue>32</DefaultValue>
</SubItem>
<SubItem>
<Name>SyncType</Name>
<Index>0x01</Index>
<DataType>UNSIGNED16</DataType>
<DefaultValue>1</DefaultValue>
<Access>RO</Access>
<Variable>SyncType</Variable>
<VariableType>Manufacturer</VariableType>
</SubItem>
<SubItem>
<Name>CycleTime</Name>
<Index>0x02</Index>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<Variable>CycleTime</Variable>
<VariableType>Manufacturer</VariableType>
</SubItem>
<SubItem>
<Name>ShiftTime</Name>
<Index>0x03</Index>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<Variable>ShiftTime</Variable>
<VariableType>Manufacturer</VariableType>
</SubItem>
<SubItem>
<Name>SyncTypeSupport</Name>
<Index>0x04</Index>
<DataType>UNSIGNED16</DataType>
<DefaultValue>0x6</DefaultValue>
<Access>RO</Access>
<Variable>SyncTypeSupport</Variable>
<VariableType>Manufacturer</VariableType>
</SubItem>
<SubItem>
<Name>MinCycleTime</Name>
<Index>0x05</Index>
<DataType>UNSIGNED32</DataType>
<DefaultValue>125000</DefaultValue>
<Access>RO</Access>
<Variable>MinCycleTime</Variable>
<VariableType>Manufacturer</VariableType>
</SubItem>
<SubItem>
<Name>CalcCopyTime</Name>
<Index>0x06</Index>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<Variable>CalcCopyTime</Variable>
<VariableType>Manufacturer</VariableType>
</SubItem>
<SubItem>
<Name>MinDelayTime</Name>
<Index>0x07</Index>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<Variable>MinDelayTime</Variable>
<VariableType>Manufacturer</VariableType>
</SubItem>
<SubItem>
<Name>GetCycleTime</Name>
<Index>0x08</Index>
<DataType>UNSIGNED16</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<Variable>GetCycleTime</Variable>
<VariableType>Manufacturer</VariableType>
</SubItem>
<SubItem>
<Name>DelayTime</Name>
<Index>0x09</Index>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<Variable>DelayTime</Variable>
<VariableType>Manufacturer</VariableType>
</SubItem>
<SubItem>
<Name>Sync0CycleTime</Name>
<Index>0x0A</Index>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<Variable>Sync0CycleTime</Variable>
<VariableType>Manufacturer</VariableType>
</SubItem>
<SubItem>
<Name>SMEventMissedCnt</Name>
<Index>0x0B</Index>
<DataType>UNSIGNED16</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<Variable>SMEventMissedCnt</Variable>
<VariableType>Manufacturer</VariableType>
</SubItem>
<SubItem>
<Name>CycleTimeTooSmallCnt</Name>
<Index>0x0C</Index>
<DataType>UNSIGNED16</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<Variable>CycleTimeTooSmallCnt</Variable>
<VariableType>Manufacturer</VariableType>
</SubItem>
<SubItem>
<Name>ShiftTimeTooSmallCnt</Name>
<Index>0x0D</Index>
<DataType>UNSIGNED16</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<Variable>ShiftTimeTooSmallCnt</Variable>
<VariableType>Manufacturer</VariableType>
</SubItem>
<SubItem>
<Name>RxPDOToggleFailed</Name>
<Index>0x0E</Index>
<DataType>UNSIGNED16</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<Variable>RxPDOToggleFailed</Variable>
<VariableType>Manufacturer</VariableType>
</SubItem>
<SubItem>
<Name>MinCycleDist</Name>
<Index>0x0F</Index>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<Variable>MinCycleDist</Variable>
<VariableType>Manufacturer</VariableType>
</SubItem>
<SubItem>
<Name>MaxCycleDist</Name>
<Index>0x10</Index>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<Variable>MaxCycleDist</Variable>
<VariableType>Manufacturer</VariableType>
</SubItem>
<SubItem>
<Name>MinSMSYNCDist</Name>
<Index>0x11</Index>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<Variable>MinSMSYNCDist</Variable>
<VariableType>Manufacturer</VariableType>
</SubItem>
<SubItem>
<Name>MaxSMSYNCDist</Name>
<Index>0x12</Index>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<Variable>MaxSMSYNCDist</Variable>
<VariableType>Manufacturer</VariableType>
</SubItem>
<SubItem>
<Name>Dummy_x14</Name>
<Index>0x14</Index>
<DataType>UNSIGNED8</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<Variable>Dummy_x14</Variable>
<VariableType>Manufacturer</VariableType>
</SubItem>
<SubItem>
<Name>SyncError</Name>
<Index>0x20</Index>
<DataType>UNSIGNED8</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<Variable>SyncError</Variable>
<VariableType>Manufacturer</VariableType>
</SubItem>
</Item>
<Item Managed="true">
<Name>Buttons</Name>
<Index>0x6005</Index>
<DataType>RECORD</DataType>
<Variable>Buttons</Variable>
<VariableType>Input</VariableType>
<SubItem>
<Name>Max SubIndex</Name>
<Index>0x00</Index>
<DataType>UNSIGNED8</DataType>
<DefaultValue>1</DefaultValue>
</SubItem>
<SubItem>
<Name>Button1</Name>
<Index>0x01</Index>
<DataType>UNSIGNED8</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<Variable>Button1</Variable>
<VariableType>Input</VariableType>
</SubItem>
</Item>
<Item Managed="true">
<Name>LEDgroup0</Name>
<Index>0x7005</Index>
<DataType>RECORD</DataType>
<Variable>LEDgroup0</Variable>
<VariableType>Output</VariableType>
<SubItem>
<Name>Max SubIndex</Name>
<Index>0x00</Index>
<DataType>UNSIGNED8</DataType>
<DefaultValue>1</DefaultValue>
</SubItem>
<SubItem>
<Name>LED0</Name>
<Index>0x01</Index>
<DataType>UNSIGNED8</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<Variable>LED0</Variable>
<VariableType>Output</VariableType>
</SubItem>
</Item>
<Item Managed="true">
<Name>LEDgroup1</Name>
<Index>0x7006</Index>
<DataType>RECORD</DataType>
<Variable>LEDgroup1</Variable>
<VariableType>Output</VariableType>
<SubItem>
<Name>Max SubIndex</Name>
<Index>0x00</Index>
<DataType>UNSIGNED8</DataType>
<DefaultValue>1</DefaultValue>
</SubItem>
<SubItem>
<Name>LED1</Name>
<Index>0x01</Index>
<DataType>UNSIGNED8</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<Variable>LED1</Variable>
<VariableType>Output</VariableType>
</SubItem>
</Item>
<Item Managed="true">
<Name>Parameters</Name>
<Index>0x8000</Index>
<DataType>RECORD</DataType>
<Variable>Parameters</Variable>
<VariableType>Parameter</VariableType>
<SubItem>
<Name>Max SubIndex</Name>
<Index>0x00</Index>
<DataType>UNSIGNED8</DataType>
<DefaultValue>1</DefaultValue>
</SubItem>
<SubItem>
<Name>Multiplier</Name>
<Index>0x01</Index>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0</DefaultValue>
<Access>RW</Access>
<Variable>Multiplier</Variable>
<VariableType>Parameter</VariableType>
</SubItem>
</Item>
<Item Managed="true">
<Name>variableRW</Name>
<Index>0x8001</Index>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0</DefaultValue>
<Access>RW</Access>
<Variable>variableRW</Variable>
<VariableType>Parameter</VariableType>
</Item>
</Dictionary>
<RxPdo>
<Index>0x1600</Index>
<Container>LEDgroup0</Container>
<Name>LEDgroup0</Name>
<Entry>
<Index>0x7005</Index>
<SubIndex>1</SubIndex>
<Variable>LED0</Variable>
</Entry>
</RxPdo>
<RxPdo>
<Index>0x1601</Index>
<Container>LEDgroup1</Container>
<Name>LEDgroup1</Name>
<Entry>
<Index>0x7006</Index>
<SubIndex>1</SubIndex>
<Variable>LED1</Variable>
</Entry>
</RxPdo>
<TxPdo>
<Index>0x1A00</Index>
<Container>Buttons</Container>
<Name>Buttons</Name>
<Entry>
<Index>0x6005</Index>
<SubIndex>1</SubIndex>
<Variable>Button1</Variable>
</Entry>
</TxPdo>
<Input>
<Index>0x6005</Index>
<Name>Buttons</Name>
<ObjectType>RECORD</ObjectType>
<Member>
<Index>0x01</Index>
<Name>Button1</Name>
<Type>UNSIGNED8</Type>
</Member>
</Input>
<Output>
<Index>0x7005</Index>
<Name>LEDgroup0</Name>
<ObjectType>RECORD</ObjectType>
<Member>
<Index>0x01</Index>
<Name>LED0</Name>
<Type>UNSIGNED8</Type>
</Member>
</Output>
<Output>
<Index>0x7006</Index>
<Name>LEDgroup1</Name>
<ObjectType>RECORD</ObjectType>
<Member>
<Index>0x01</Index>
<Name>LED1</Name>
<Type>UNSIGNED8</Type>
</Member>
</Output>
<Parameter>
<Index>0x8000</Index>
<Name>Parameters</Name>
<ObjectType>RECORD</ObjectType>
<Member>
<Index>0x01</Index>
<Name>Multiplier</Name>
<Type>UNSIGNED32</Type>
<Access>RW</Access>
</Member>
</Parameter>
<Parameter>
<Index>0x8001</Index>
<Name>variableRW</Name>
<Type>UNSIGNED32</Type>
<Access>RW</Access>
<ObjectType>VAR</ObjectType>
</Parameter>
<Manufacturer>
<Index>0x1C32</Index>
<Name>SyncMgrParam</Name>
<ObjectType>RECORD</ObjectType>
<Member>
<Index>0x01</Index>
<Name>SyncType</Name>
<Type>UNSIGNED16</Type>
<DefaultValue>1</DefaultValue>
</Member>
<Member>
<Index>0x02</Index>
<Name>CycleTime</Name>
<Type>UNSIGNED32</Type>
</Member>
<Member>
<Index>0x03</Index>
<Name>ShiftTime</Name>
<Type>UNSIGNED32</Type>
</Member>
<Member>
<Index>0x04</Index>
<Name>SyncTypeSupport</Name>
<Type>UNSIGNED16</Type>
<DefaultValue>0x6</DefaultValue>
</Member>
<Member>
<Index>0x05</Index>
<Name>MinCycleTime</Name>
<Type>UNSIGNED32</Type>
<DefaultValue>125000</DefaultValue>
</Member>
<Member>
<Index>0x06</Index>
<Name>CalcCopyTime</Name>
<Type>UNSIGNED32</Type>
</Member>
<Member>
<Index>0x07</Index>
<Name>MinDelayTime</Name>
<Type>UNSIGNED32</Type>
</Member>
<Member>
<Index>0x08</Index>
<Name>GetCycleTime</Name>
<Type>UNSIGNED16</Type>
</Member>
<Member>
<Index>0x09</Index>
<Name>DelayTime</Name>
<Type>UNSIGNED32</Type>
</Member>
<Member>
<Index>0x0A</Index>
<Name>Sync0CycleTime</Name>
<Type>UNSIGNED32</Type>
</Member>
<Member>
<Index>0x0B</Index>
<Name>SMEventMissedCnt</Name>
<Type>UNSIGNED16</Type>
</Member>
<Member>
<Index>0x0C</Index>
<Name>CycleTimeTooSmallCnt</Name>
<Type>UNSIGNED16</Type>
</Member>
<Member>
<Index>0x0D</Index>
<Name>ShiftTimeTooSmallCnt</Name>
<Type>UNSIGNED16</Type>
</Member>
<Member>
<Index>0x0E</Index>
<Name>RxPDOToggleFailed</Name>
<Type>UNSIGNED16</Type>
</Member>
<Member>
<Index>0x0F</Index>
<Name>MinCycleDist</Name>
<Type>UNSIGNED32</Type>
</Member>
<Member>
<Index>0x10</Index>
<Name>MaxCycleDist</Name>
<Type>UNSIGNED32</Type>
</Member>
<Member>
<Index>0x11</Index>
<Name>MinSMSYNCDist</Name>
<Type>UNSIGNED32</Type>
</Member>
<Member>
<Index>0x12</Index>
<Name>MaxSMSYNCDist</Name>
<Type>UNSIGNED32</Type>
</Member>
<Member>
<Index>0x14</Index>
<Name>Dummy_x14</Name>
<Type>UNSIGNED8</Type>
</Member>
<Member>
<Index>0x20</Index>
<Name>SyncError</Name>
<Type>UNSIGNED8</Type>
<Access>RO</Access>
</Member>
</Manufacturer>
<Manufacturer>
<Index>0x10F1</Index>
<Name>ErrorSettings</Name>
<ObjectType>RECORD</ObjectType>
<Member>
<Index>0x01</Index>
<Name>Dummy_x01</Name>
<Type>UNSIGNED8</Type>
</Member>
<Member>
<Index>0x02</Index>
<Name>SyncErrorCounterLimit</Name>
<Type>UNSIGNED16</Type>
<DefaultValue>2</DefaultValue>
<Access>RW</Access>
</Member>
</Manufacturer>
</Slave>

64
applications/rtl_xmc4_irq/slave.h 100644
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@ -0,0 +1,64 @@
#ifndef __SLAVE_H__
#define __SLAVE_H__
#include "utypes.h"
#include "esc.h"
/**
* This function gets input values and updates Rb.Buttons
*/
void cb_get_Buttons();
/**
* This function sets output values according to Wb.LEDgroup0
*/
void cb_set_LEDgroup0();
/**
* This function sets output values according to Wb.LEDgroup1
*/
void cb_set_LEDgroup1();
/**
* This function is called after a SDO write of the object Cb.variableRW.
*/
void cb_post_write_variableRW(int subindex);
#define DIG_PROCESS_INPUTS_FLAG 0x01
#define DIG_PROCESS_OUTPUTS_FLAG 0x02
#define DIG_PROCESS_WD_FLAG 0x04
#define DIG_PROCESS_APP_HOOK_FLAG 0x08
/** Implements the watch-dog counter to count if we should make a state change
* due to missing incoming SM2 events. Updates local I/O and run the application
* in the following order, call read EtherCAT outputs, execute user provided
* application hook and call write EtherCAT inputs.
*
* @param[in] flags = User input what to execute
*/
void DIG_process (uint8_t flags);
/**
* ISR for SM0/1, EEPROM and AL CONTROL events in a SM/DC
* synchronization application
*/
void ecat_slv_isr (void);
/**
* Poll SM0/1, EEPROM and AL CONTROL events in a SM/DC synchronization
* application
*/
void ecat_slv_poll (void);
/**
* Poll all events in a free-run application
*/
void ecat_slv (void);
/**
* Initialize the slave stack
*
* @param[in] config = User input how to configure the stack
*/
void ecat_slv_init (esc_cfg_t * config);
#endif /* __SLAVE_H__ */

1190
applications/rtl_xmc4_irq/slave.xml 100644
View File

File diff suppressed because it is too large Load Diff

218
applications/rtl_xmc4_irq/slave_objectlist.c 100644
View File

@ -0,0 +1,218 @@
#ifndef SOES_V1
#include "esc_coe.h"
#include "utypes.h"
#include <stddef.h>
static const char acName1000[] = "Device Type";
static const char acName1000_0[] = "Device Type";
static const char acName1008[] = "Device Name";
static const char acName1008_0[] = "Device Name";
static const char acName1009[] = "Hardware Version";
static const char acName1009_0[] = "Hardware Version";
static const char acName100A[] = "Software Version";
static const char acName100A_0[] = "Software Version";
static const char acName1018[] = "Identity Object";
static const char acName1018_00[] = "Max SubIndex";
static const char acName1018_01[] = "Vendor ID";
static const char acName1018_02[] = "Product Code";
static const char acName1018_03[] = "Revision Number";
static const char acName1018_04[] = "Serial Number";
static const char acName10F1[] = "ErrorSettings";
static const char acName10F1_00[] = "Max SubIndex";
static const char acName10F1_01[] = "Dummy_x01";
static const char acName10F1_02[] = "SyncErrorCounterLimit";
static const char acName1600[] = "LEDgroup0";
static const char acName1600_00[] = "Max SubIndex";
static const char acName1600_01[] = "LED0";
static const char acName1601[] = "LEDgroup1";
static const char acName1601_00[] = "Max SubIndex";
static const char acName1601_01[] = "LED1";
static const char acName1A00[] = "Buttons";
static const char acName1A00_00[] = "Max SubIndex";
static const char acName1A00_01[] = "Button1";
static const char acName1C00[] = "Sync Manager Communication Type";
static const char acName1C00_00[] = "Max SubIndex";
static const char acName1C00_01[] = "Communications Type SM0";
static const char acName1C00_02[] = "Communications Type SM1";
static const char acName1C00_03[] = "Communications Type SM2";
static const char acName1C00_04[] = "Communications Type SM3";
static const char acName1C12[] = "Sync Manager 2 PDO Assignment";
static const char acName1C12_00[] = "Max SubIndex";
static const char acName1C12_01[] = "PDO Mapping";
static const char acName1C12_02[] = "PDO Mapping";
static const char acName1C13[] = "Sync Manager 3 PDO Assignment";
static const char acName1C13_00[] = "Max SubIndex";
static const char acName1C13_01[] = "PDO Mapping";
static const char acName1C32[] = "SyncMgrParam";
static const char acName1C32_00[] = "Max SubIndex";
static const char acName1C32_01[] = "SyncType";
static const char acName1C32_02[] = "CycleTime";
static const char acName1C32_03[] = "ShiftTime";
static const char acName1C32_04[] = "SyncTypeSupport";
static const char acName1C32_05[] = "MinCycleTime";
static const char acName1C32_06[] = "CalcCopyTime";
static const char acName1C32_07[] = "MinDelayTime";
static const char acName1C32_08[] = "GetCycleTime";
static const char acName1C32_09[] = "DelayTime";
static const char acName1C32_0A[] = "Sync0CycleTime";
static const char acName1C32_0B[] = "SMEventMissedCnt";
static const char acName1C32_0C[] = "CycleTimeTooSmallCnt";
static const char acName1C32_0D[] = "ShiftTimeTooSmallCnt";
static const char acName1C32_0E[] = "RxPDOToggleFailed";
static const char acName1C32_0F[] = "MinCycleDist";
static const char acName1C32_10[] = "MaxCycleDist";
static const char acName1C32_11[] = "MinSMSYNCDist";
static const char acName1C32_12[] = "MaxSMSYNCDist";
static const char acName1C32_14[] = "Dummy_x14";
static const char acName1C32_20[] = "SyncError";
static const char acName6005[] = "Buttons";
static const char acName6005_00[] = "Max SubIndex";
static const char acName6005_01[] = "Button1";
static const char acName7005[] = "LEDgroup0";
static const char acName7005_00[] = "Max SubIndex";
static const char acName7005_01[] = "LED0";
static const char acName7006[] = "LEDgroup1";
static const char acName7006_00[] = "Max SubIndex";
static const char acName7006_01[] = "LED1";
static const char acName8000[] = "Parameters";
static const char acName8000_00[] = "Max SubIndex";
static const char acName8000_01[] = "Multiplier";
static const char acName8001[] = "variableRW";
static const char acName8001_0[] = "variableRW";
const _objd SDO1000[] =
{
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1000_0, 0x00001389, NULL},
};
const _objd SDO1008[] =
{
{0x0, DTYPE_VISIBLE_STRING, 88, ATYPE_RO, acName1008_0, 0, "xmc43_slave"},
};
const _objd SDO1009[] =
{
{0x0, DTYPE_VISIBLE_STRING, 24, ATYPE_RO, acName1009_0, 0, "1.0"},
};
const _objd SDO100A[] =
{
{0x0, DTYPE_VISIBLE_STRING, 24, ATYPE_RO, acName100A_0, 0, "1.0"},
};
const _objd SDO1018[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1018_00, 4, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_01, 0x1337, NULL},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_02, 4300, NULL},
{0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_03, 0, NULL},
{0x04, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_04, 0x00000000, NULL},
};
const _objd SDO10F1[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName10F1_00, 2, NULL},
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName10F1_01, 0, &Mb.ErrorSettings.Dummy_x01},
{0x02, DTYPE_UNSIGNED16, 16, ATYPE_RW, acName10F1_02, 2, &Mb.ErrorSettings.SyncErrorCounterLimit},
};
const _objd SDO1600[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1600_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_01, 0x70050108, NULL},
};
const _objd SDO1601[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1601_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1601_01, 0x70060108, NULL},
};
const _objd SDO1A00[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A00_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_01, 0x60050108, NULL},
};
const _objd SDO1C00[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_00, 4, NULL},
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_01, 1, NULL},
{0x02, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_02, 2, NULL},
{0x03, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_03, 3, NULL},
{0x04, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_04, 4, NULL},
};
const _objd SDO1C12[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 2, NULL},
{0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_01, 0x1600, NULL},
{0x02, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_02, 0x1601, NULL},
};
const _objd SDO1C13[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C13_00, 1, NULL},
{0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_01, 0x1A00, NULL},
};
const _objd SDO1C32[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C32_00, 32, NULL},
{0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_01, 1, &Mb.SyncMgrParam.SyncType},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_02, 0, &Mb.SyncMgrParam.CycleTime},
{0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_03, 0, &Mb.SyncMgrParam.ShiftTime},
{0x04, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_04, 0x6, &Mb.SyncMgrParam.SyncTypeSupport},
{0x05, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_05, 125000, &Mb.SyncMgrParam.MinCycleTime},
{0x06, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_06, 0, &Mb.SyncMgrParam.CalcCopyTime},
{0x07, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_07, 0, &Mb.SyncMgrParam.MinDelayTime},
{0x08, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_08, 0, &Mb.SyncMgrParam.GetCycleTime},
{0x09, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_09, 0, &Mb.SyncMgrParam.DelayTime},
{0x0A, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_0A, 0, &Mb.SyncMgrParam.Sync0CycleTime},
{0x0B, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_0B, 0, &Mb.SyncMgrParam.SMEventMissedCnt},
{0x0C, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_0C, 0, &Mb.SyncMgrParam.CycleTimeTooSmallCnt},
{0x0D, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_0D, 0, &Mb.SyncMgrParam.ShiftTimeTooSmallCnt},
{0x0E, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_0E, 0, &Mb.SyncMgrParam.RxPDOToggleFailed},
{0x0F, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_0F, 0, &Mb.SyncMgrParam.MinCycleDist},
{0x10, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_10, 0, &Mb.SyncMgrParam.MaxCycleDist},
{0x11, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_11, 0, &Mb.SyncMgrParam.MinSMSYNCDist},
{0x12, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_12, 0, &Mb.SyncMgrParam.MaxSMSYNCDist},
{0x14, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C32_14, 0, &Mb.SyncMgrParam.Dummy_x14},
{0x20, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C32_20, 0, &Mb.SyncMgrParam.SyncError},
};
const _objd SDO6005[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6005_00, 1, NULL},
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6005_01, 0, &Rb.Buttons.Button1},
};
const _objd SDO7005[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7005_00, 1, NULL},
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7005_01, 0, &Wb.LEDgroup0.LED0},
};
const _objd SDO7006[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7006_00, 1, NULL},
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7006_01, 0, &Wb.LEDgroup1.LED1},
};
const _objd SDO8000[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName8000_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RW, acName8000_01, 0, &Cb.Parameters.Multiplier},
};
const _objd SDO8001[] =
{
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RW, acName8001_0, 0, &Cb.variableRW},
};
const _objectlist SDOobjects[] =
{
{0x1000, OTYPE_VAR, 0, 0, acName1000, SDO1000},
{0x1008, OTYPE_VAR, 0, 0, acName1008, SDO1008},
{0x1009, OTYPE_VAR, 0, 0, acName1009, SDO1009},
{0x100A, OTYPE_VAR, 0, 0, acName100A, SDO100A},
{0x1018, OTYPE_RECORD, 4, 0, acName1018, SDO1018},
{0x10F1, OTYPE_RECORD, 2, 0, acName10F1, SDO10F1},
{0x1600, OTYPE_RECORD, 1, 0, acName1600, SDO1600},
{0x1601, OTYPE_RECORD, 1, 0, acName1601, SDO1601},
{0x1A00, OTYPE_RECORD, 1, 0, acName1A00, SDO1A00},
{0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00},
{0x1C12, OTYPE_ARRAY, 2, 0, acName1C12, SDO1C12},
{0x1C13, OTYPE_ARRAY, 1, 0, acName1C13, SDO1C13},
{0x1C32, OTYPE_RECORD, 32, 0, acName1C32, SDO1C32},
{0x6005, OTYPE_RECORD, 1, 0, acName6005, SDO6005},
{0x7005, OTYPE_RECORD, 1, 0, acName7005, SDO7005},
{0x7006, OTYPE_RECORD, 1, 0, acName7006, SDO7006},
{0x8000, OTYPE_RECORD, 1, 0, acName8000, SDO8000},
{0x8001, OTYPE_VAR, 0, 0, acName8001, SDO8001},
{0xffff, 0xff, 0xff, 0xff, NULL, NULL}
};
#endif

96
applications/rtl_xmc4_irq/utypes.h 100644
View File

@ -0,0 +1,96 @@
#ifndef __UTYPES_H__
#define __UTYPES_H__
#include <cc.h>
/* Inputs */
CC_PACKED_BEGIN
typedef struct
{
CC_PACKED_BEGIN
struct
{
uint8_t Button1;
} CC_PACKED Buttons;
CC_PACKED_END
} CC_PACKED _Rbuffer;
CC_PACKED_END
/* Outputs */
CC_PACKED_BEGIN
typedef struct
{
CC_PACKED_BEGIN
struct
{
uint8_t LED0;
} CC_PACKED LEDgroup0;
CC_PACKED_END
CC_PACKED_BEGIN
struct
{
uint8_t LED1;
} CC_PACKED LEDgroup1;
CC_PACKED_END
} CC_PACKED _Wbuffer;
CC_PACKED_END
/* Parameters */
CC_PACKED_BEGIN
typedef struct
{
CC_PACKED_BEGIN
struct
{
uint32_t Multiplier;
} CC_PACKED Parameters;
CC_PACKED_END
uint32_t variableRW;
} CC_PACKED _Cbuffer;
CC_PACKED_END
/* Manufacturer specific data */
CC_PACKED_BEGIN
typedef struct
{
CC_PACKED_BEGIN
struct
{
uint16_t SyncType;
uint32_t CycleTime;
uint32_t ShiftTime;
uint16_t SyncTypeSupport;
uint32_t MinCycleTime;
uint32_t CalcCopyTime;
uint32_t MinDelayTime;
uint16_t GetCycleTime;
uint32_t DelayTime;
uint32_t Sync0CycleTime;
uint16_t SMEventMissedCnt;
uint16_t CycleTimeTooSmallCnt;
uint16_t ShiftTimeTooSmallCnt;
uint16_t RxPDOToggleFailed;
uint32_t MinCycleDist;
uint32_t MaxCycleDist;
uint32_t MinSMSYNCDist;
uint32_t MaxSMSYNCDist;
uint8_t Dummy_x14;
uint8_t SyncError;
} CC_PACKED SyncMgrParam;
CC_PACKED_END
CC_PACKED_BEGIN
struct
{
uint8_t Dummy_x01;
uint16_t SyncErrorCounterLimit;
} CC_PACKED ErrorSettings;
CC_PACKED_END
} CC_PACKED _Mbuffer;
CC_PACKED_END
extern _Rbuffer Rb;
extern _Wbuffer Wb;
extern _Cbuffer Cb;
extern _Mbuffer Mb;
#endif /* __UTYPES_H__ */

95
applications/xmc4300_slavedemo/soes.c
View File

@ -41,17 +41,17 @@ static const XMC_GPIO_CONFIG_t gpio_config_led = {
uint32_t encoder_scale;
uint32_t encoder_scale_mirror;
volatile _ESCvar ESCvar;
_MBX MBX[MBXBUFFERS];
_MBXcontrol MBXcontrol[MBXBUFFERS];
uint8_t MBXrun=0;
uint16_t SM2_sml,SM3_sml;
_Rbuffer Rb;
_Wbuffer Wb;
_Cbuffer Cb;
_App App;
uint16_t TXPDOsize,RXPDOsize;
int wd_cnt = WD_RESET;
/* Global variables used by the stack */
uint8_t MBX[MBXBUFFERS * MAX(MBXSIZE,MBXSIZEBOOT)];
_MBXcontrol MBXcontrol[MBXBUFFERS];
_ESCvar ESCvar;
/* Application variables */
_Rbuffer Rb;
_Wbuffer Wb;
_Cbuffer Cb;
/* Private variables */
volatile uint8_t digoutput;
volatile uint8_t diginput;
uint16_t txpdomap = DEFAULTTXPDOMAP;
@ -59,6 +59,28 @@ uint16_t rxpdomap = DEFAULTRXPDOMAP;
uint8_t txpdoitems = DEFAULTTXPDOITEMS;
uint8_t rxpdoitems = DEFAULTTXPDOITEMS;
/** Function to pre-qualify the incoming SDO download.
*
* @param[in] index = index of SDO download request to check
* @param[in] sub-index = sub-index of SDO download request to check
* @return 1 if the SDO Download is correct. 0 If not correct.
*/
int ESC_pre_objecthandler (uint16_t index, uint8_t subindex)
{
if ((index == 0x1c12) && (subindex > 0) && (rxpdoitems != 0))
{
SDO_abort (index, subindex, ABORT_READONLY);
return 0;
}
if ((index == 0x1c13) && (subindex > 0) && (txpdoitems != 0))
{
SDO_abort (index, subindex, ABORT_READONLY);
return 0;
}
return 1;
}
/** Mandatory: Hook called from the slave stack SDO Download handler to act on
* user specified Index and Sub-index.
*
@ -80,7 +102,7 @@ void ESC_objecthandler (uint16_t index, uint8_t subindex)
{
rxpdomap = 0x1600;
}
RXPDOsize = SM2_sml = sizeRXPDO ();
ESCvar.RXPDOsize = ESCvar.ESC_SM2_sml = sizeOfPDO(RX_PDO_OBJIDX);
break;
}
case 0x1c13:
@ -94,7 +116,7 @@ void ESC_objecthandler (uint16_t index, uint8_t subindex)
{
txpdomap = 0x1A00;
}
TXPDOsize = SM3_sml = sizeTXPDO ();
ESCvar.TXPDOsize = ESCvar.ESC_SM3_sml = sizeOfPDO(TX_PDO_OBJIDX);
break;
}
case 0x7100:
@ -137,13 +159,13 @@ void APP_safeoutput (void)
*/
void TXPDO_update (void)
{
ESC_write (SM3_sma, &Rb.button, TXPDOsize);
ESC_write (SM3_sma, &Rb.button, ESCvar.TXPDOsize);
}
/** Mandatory: Read Sync Manager 2 to local process data, Master Outputs.
*/
void RXPDO_update (void)
{
ESC_read (SM2_sma, &Wb.LED, RXPDOsize);
ESC_read (SM2_sma, &Wb.LED, ESCvar.RXPDOsize);
}
/** Mandatory: Function to update local I/O, call read ethercat outputs, call
@ -156,7 +178,7 @@ void DIG_process (void)
{
wd_cnt--;
}
if (App.state & APPSTATE_OUTPUT)
if (ESCvar.App.state & APPSTATE_OUTPUT)
{
/* SM2 trigger ? */
if (ESCvar.ALevent & ESCREG_ALEVENT_SM2)
@ -185,7 +207,7 @@ void DIG_process (void)
{
wd_cnt = WD_RESET;
}
if (App.state)
if (ESCvar.App.state)
{
Rb.button = XMC_GPIO_GetInput(P_BTN);
Cb.reset_counter++;
@ -208,17 +230,38 @@ void soes_init (void)
XMC_GPIO_Init(P_BTN, &gpio_config_btn);
XMC_GPIO_Init(P_LED, &gpio_config_led);
TXPDOsize = SM3_sml = sizeTXPDO ();
RXPDOsize = SM2_sml = sizeRXPDO ();
ESCvar.TXPDOsize = ESCvar.ESC_SM3_sml = sizeOfPDO(TX_PDO_OBJIDX);
ESCvar.RXPDOsize = ESCvar.ESC_SM2_sml = sizeOfPDO(RX_PDO_OBJIDX);
/* Setup post config hooks */
/* Setup config hooks */
static esc_cfg_t config =
{
.pre_state_change_hook = NULL,
.post_state_change_hook = NULL
.user_arg = NULL,
.use_interrupt = 0,
.watchdog_cnt = 0,
.mbxsize = MBXSIZE,
.mbxsizeboot = MBXSIZEBOOT,
.mbxbuffers = MBXBUFFERS,
.mb[0] = {MBX0_sma, MBX0_sml, MBX0_sme, MBX0_smc, 0},
.mb[1] = {MBX1_sma, MBX1_sml, MBX1_sme, MBX1_smc, 0},
.mb_boot[0] = {MBX0_sma_b, MBX0_sml_b, MBX0_sme_b, MBX0_smc_b, 0},
.mb_boot[1] = {MBX1_sma_b, MBX1_sml_b, MBX1_sme_b, MBX1_smc_b, 0},
.pdosm[0] = {SM2_sma, 0, 0, SM2_smc, SM2_act},
.pdosm[1] = {SM3_sma, 0, 0, SM3_smc, SM3_act},
.pre_state_change_hook = NULL,
.post_state_change_hook = NULL,
.application_hook = NULL,
.safeoutput_override = NULL,
.pre_object_download_hook = NULL,
.post_object_download_hook = NULL,
.rxpdo_override = NULL,
.txpdo_override = NULL,
.esc_hw_interrupt_enable = NULL,
.esc_hw_interrupt_disable = NULL,
.esc_hw_eep_handler = NULL
};
ESC_config ((esc_cfg_t *)&config);
ESC_config (&config);
ESC_init (NULL);
/* wait until ESC is started up */
@ -251,7 +294,9 @@ void soes_task (void)
ESCvar.Time = etohl (ESCvar.Time);
/* Check the state machine */
ESC_state ();
ESC_state();
/* Check the SM activation event */
ESC_sm_act_event();
/* If else to two separate execution paths
* If we're running BOOSTRAP

150
soes/esc.c
View File

@ -15,17 +15,6 @@
*
* State machine and mailbox support.
*/
/* Global variables used by the stack */
esc_cfg_t * esc_cfg = NULL;
size_t ESC_MBXSIZE;
uint16_t ESC_MBX0_sma;
uint16_t ESC_MBX0_sml;
uint16_t ESC_MBX0_sme;
uint8_t ESC_MBX0_smc;
uint16_t ESC_MBX1_sma;
uint16_t ESC_MBX1_sml;
uint16_t ESC_MBX1_sme;
uint8_t ESC_MBX1_smc;
/** Write AL Status Code to the ESC.
*
@ -246,7 +235,7 @@ uint16_t ESC_checkDC (void)
{
ret = ALERR_DCINVALIDSYNCCFG;
}
else if(COE_getSyncMgrPara(0x10F1, 0x2, &sync_counter_limit, DTYPE_UNSIGNED16) == 0)
else if(COE_getSyncMgrPara(0x10F1, 0x2, &ESCvar.synccounterlimit, DTYPE_UNSIGNED16) == 0)
{
ret = ALERR_DCINVALIDSYNCCFG;
}
@ -272,14 +261,14 @@ uint16_t ESC_checkDC (void)
}
else
{
dc_sync = 1;
sync_counter = 0;
ESCvar.dcsync = 1;
ESCvar.synccounter = 0;
}
}
else
{
dc_sync = 0;
sync_counter = 0;
ESCvar.dcsync = 0;
ESCvar.synccounter = 0;
}
return ret;
@ -331,15 +320,10 @@ uint8_t ESC_checkmbx (uint8_t state)
uint8_t ESC_startmbx (uint8_t state)
{
/* Assign SM settings */
ESC_MBXSIZE = esc_cfg->mbxsize;
ESC_MBX0_sma = esc_cfg->mb[0].cfg_sma;
ESC_MBX0_sml = esc_cfg->mb[0].cfg_sml;
ESC_MBX0_sme = esc_cfg->mb[0].cfg_sme;
ESC_MBX0_smc = esc_cfg->mb[0].cfg_smc;
ESC_MBX1_sma = esc_cfg->mb[1].cfg_sma;
ESC_MBX1_sml = esc_cfg->mb[1].cfg_sml;
ESC_MBX1_sme = esc_cfg->mb[1].cfg_sme;
ESC_MBX1_smc = esc_cfg->mb[1].cfg_smc;
ESCvar.activembxsize = ESCvar.mbxsize;
ESCvar.activemb0 = &ESCvar.mb[0];
ESCvar.activemb1 = &ESCvar.mb[1];
ESC_SMenable (0);
ESC_SMenable (1);
@ -348,12 +332,12 @@ uint8_t ESC_startmbx (uint8_t state)
if ((state = ESC_checkmbx (state)) & ESCerror)
{
ESC_ALerror (ALERR_INVALIDMBXCONFIG);
MBXrun = 0;
ESCvar.MBXrun = 0;
}
else
{
ESCvar.toggle = ESCvar.SM[1].ECrep; //sync repeat request toggle state
MBXrun = 1;
ESCvar.MBXrun = 1;
}
return state;
}
@ -370,15 +354,9 @@ uint8_t ESC_startmbx (uint8_t state)
uint8_t ESC_startmbxboot (uint8_t state)
{
/* Assign SM settings */
ESC_MBXSIZE = esc_cfg->mbxsizeboot;
ESC_MBX0_sma = esc_cfg->mb_boot[0].cfg_sma;
ESC_MBX0_sml = esc_cfg->mb_boot[0].cfg_sml;
ESC_MBX0_sme = esc_cfg->mb_boot[0].cfg_sme;
ESC_MBX0_smc = esc_cfg->mb_boot[0].cfg_smc;
ESC_MBX1_sma = esc_cfg->mb_boot[1].cfg_sma;
ESC_MBX1_sml = esc_cfg->mb_boot[1].cfg_sml;
ESC_MBX1_sme = esc_cfg->mb_boot[1].cfg_sme;
ESC_MBX1_smc = esc_cfg->mb_boot[1].cfg_smc;
ESCvar.activembxsize = ESCvar.mbxsizeboot;
ESCvar.activemb0 = &ESCvar.mbboot[0];
ESCvar.activemb1 = &ESCvar.mbboot[1];
ESC_SMenable (0);
ESC_SMenable (1);
@ -387,12 +365,12 @@ uint8_t ESC_startmbxboot (uint8_t state)
if ((state = ESC_checkmbx (state)) & ESCerror)
{
ESC_ALerror (ALERR_INVALIDBOOTMBXCONFIG);
MBXrun = 0;
ESCvar.MBXrun = 0;
}
else
{
ESCvar.toggle = ESCvar.SM[1].ECrep; //sync repeat request toggle state
MBXrun = 1;
ESCvar.MBXrun = 1;
}
return state;
}
@ -403,7 +381,7 @@ uint8_t ESC_startmbxboot (uint8_t state)
void ESC_stopmbx (void)
{
uint8_t n;
MBXrun = 0;
ESCvar.MBXrun = 0;
ESC_SMdisable (0);
ESC_SMdisable (1);
for (n = 0; n < ESC_MBXBUFFERS; n++)
@ -500,7 +478,8 @@ uint8_t ESC_claimbuffer (void)
{
MBXcontrol[n].state = MBXstate_outclaim;
MBh = (_MBXh *)&MBX[n * ESC_MBXSIZE];
ESCvar.mbxcnt = (++ESCvar.mbxcnt) & 0x07;
ESCvar.mbxcnt++;
ESCvar.mbxcnt = (ESCvar.mbxcnt & 0x07);
if (ESCvar.mbxcnt == 0)
{
ESCvar.mbxcnt = 1;
@ -560,7 +539,7 @@ uint8_t ESC_mbxprocess (void)
uint8_t mbxhandle = 0;
_MBXh *MBh = (_MBXh *)&MBX[0];
if (!MBXrun)
if (ESCvar.MBXrun == 0)
{
/* nothing to do */
return 0;
@ -676,11 +655,11 @@ uint8_t ESC_mbxprocess (void)
void ESC_xoeprocess (void)
{
_MBXh *mbh;
if (!MBXrun)
if (ESCvar.MBXrun == 0)
{
return;
}
if (!ESCvar.xoe && (MBXcontrol[0].state == MBXstate_inclaim))
if ((ESCvar.xoe == 0) && (MBXcontrol[0].state == MBXstate_inclaim))
{
mbh = (_MBXh *) &MBX[0];
if ((mbh->mbxtype == 0) || (etohs (mbh->length) == 0))
@ -707,7 +686,7 @@ uint8_t ESC_checkSM23 (uint8_t state)
_ESCsm2 *SM;
ESC_read (ESCREG_SM2, (void *) &ESCvar.SM[2], sizeof (ESCvar.SM[2]));
SM = (_ESCsm2 *) & ESCvar.SM[2];
if ((etohs (SM->PSA) != ESC_SM2_sma) || (etohs (SM->Length) != ESC_SM2_sml)
if ((etohs (SM->PSA) != ESC_SM2_sma) || (etohs (SM->Length) != ESCvar.ESC_SM2_sml)
|| (SM->Command != ESC_SM2_smc) || !(SM->ActESC & ESC_SM2_act))
{
ESCvar.SMtestresult = SMRESULT_ERRSM2;
@ -716,7 +695,7 @@ uint8_t ESC_checkSM23 (uint8_t state)
}
ESC_read (ESCREG_SM3, (void *) &ESCvar.SM[3], sizeof (ESCvar.SM[3]));
SM = (_ESCsm2 *) & ESCvar.SM[3];
if ((etohs (SM->PSA) != ESC_SM3_sma) || (etohs (SM->Length) != ESC_SM3_sml)
if ((etohs (SM->PSA) != ESC_SM3_sma) || (etohs (SM->Length) != ESCvar.ESC_SM3_sml)
|| (SM->Command != ESC_SM3_smc) || !(SM->ActESC & ESC_SM3_act))
{
ESCvar.SMtestresult = SMRESULT_ERRSM3;
@ -741,7 +720,7 @@ uint8_t ESC_startinput (uint8_t state)
if (state != (ESCpreop | ESCerror))
{
ESC_SMenable (3);
CC_ATOMIC_SET(App.state, APPSTATE_INPUT);
CC_ATOMIC_SET(ESCvar.App.state, APPSTATE_INPUT);
}
else
{
@ -758,7 +737,7 @@ uint8_t ESC_startinput (uint8_t state)
}
/* Exit here if polling */
if (esc_cfg->use_interrupt == 0)
if (ESCvar.use_interrupt == 0)
{
return state;
}
@ -774,19 +753,20 @@ uint8_t ESC_startinput (uint8_t state)
ESC_SMdisable (2);
ESC_SMdisable (3);
CC_ATOMIC_SET(App.state, APPSTATE_IDLE);
CC_ATOMIC_SET(ESCvar.App.state, APPSTATE_IDLE);
}
else
{
if (esc_cfg->esc_hw_interrupt_enable != NULL)
if (ESCvar.esc_hw_interrupt_enable != NULL)
{
if(dc_sync > 0)
if(ESCvar.dcsync > 0)
{
esc_cfg->esc_hw_interrupt_enable(ESCREG_ALEVENT_DC_SYNC0 | ESCREG_ALEVENT_SM2);
ESCvar.esc_hw_interrupt_enable(ESCREG_ALEVENT_DC_SYNC0 |
ESCREG_ALEVENT_SM2);
}
else
{
esc_cfg->esc_hw_interrupt_enable(ESCREG_ALEVENT_SM2);
ESCvar.esc_hw_interrupt_enable(ESCREG_ALEVENT_SM2);
}
}
}
@ -801,15 +781,16 @@ uint8_t ESC_startinput (uint8_t state)
*/
void ESC_stopinput (void)
{
CC_ATOMIC_SET(App.state, APPSTATE_IDLE);
CC_ATOMIC_SET(ESCvar.App.state, APPSTATE_IDLE);
ESC_SMdisable (3);
ESC_SMdisable (2);
/* Call interrupt disable hook case it have been configured */
if ((esc_cfg->use_interrupt != 0) &&
(esc_cfg->esc_hw_interrupt_disable != NULL))
if ((ESCvar.use_interrupt != 0) &&
(ESCvar.esc_hw_interrupt_disable != NULL))
{
esc_cfg->esc_hw_interrupt_disable (ESCREG_ALEVENT_DC_SYNC0 | ESCREG_ALEVENT_SM2);
ESCvar.esc_hw_interrupt_disable (ESCREG_ALEVENT_DC_SYNC0 |
ESCREG_ALEVENT_SM2);
}
}
@ -825,7 +806,7 @@ uint8_t ESC_startoutput (uint8_t state)
{
ESC_SMenable (2);
CC_ATOMIC_OR(App.state, APPSTATE_OUTPUT);
CC_ATOMIC_OR(ESCvar.App.state, APPSTATE_OUTPUT);
return state;
}
@ -837,7 +818,7 @@ uint8_t ESC_startoutput (uint8_t state)
*/
void ESC_stopoutput (void)
{
CC_ATOMIC_AND(App.state, APPSTATE_INPUT);
CC_ATOMIC_AND(ESCvar.App.state, APPSTATE_INPUT);
ESC_SMdisable (2);
APP_safeoutput ();
}
@ -871,7 +852,7 @@ void ESC_sm_act_event (void)
* is up and running
*/
if ((as & ESCREG_AL_ALLBUTINITMASK) &&
((as == ESCboot) == 0) && MBXrun)
((as == ESCboot) == 0) && ESCvar.MBXrun)
{
/* Validate Sync Managers, reading the Activation register will
* acknowledge the SyncManager Activation event making us enter
@ -889,7 +870,7 @@ void ESC_sm_act_event (void)
else if (ax == (ESCinit | ESCerror))
{
/* If we have activated Inputs and Outputs we need to disable them */
if (CC_ATOMIC_GET(App.state))
if (CC_ATOMIC_GET(ESCvar.App.state))
{
ESC_stopoutput ();
ESC_stopinput ();
@ -897,14 +878,14 @@ void ESC_sm_act_event (void)
/* Stop mailboxes and update ALStatus code */
ESC_stopmbx ();
ESC_ALerror (ALERR_INVALIDMBXCONFIG);
MBXrun = 0;
ESCvar.MBXrun = 0;
ESC_ALstatus (ax);
return;
}
/* Have we been forced to step down to PREOP we will stop inputs
* and outputs, update AL Status Code and exit ESC_state
*/
else if (CC_ATOMIC_GET(App.state) && (ax23 == (ESCpreop | ESCerror)))
else if (CC_ATOMIC_GET(ESCvar.App.state) && (ax23 == (ESCpreop | ESCerror)))
{
ESC_stopoutput ();
ESC_stopinput ();
@ -972,9 +953,9 @@ void ESC_state (void)
as = (ac << 4) | (as & 0x0f);
/* Call post state change hook case it have been configured */
if (esc_cfg->pre_state_change_hook != NULL)
if (ESCvar.pre_state_change_hook != NULL)
{
esc_cfg->pre_state_change_hook (&as, &an);
ESCvar.pre_state_change_hook (&as, &an);
}
/* Switch through the state change requested via AlControl from
@ -1050,8 +1031,8 @@ void ESC_state (void)
case PREOP_TO_SAFEOP:
case SAFEOP_TO_SAFEOP:
{
ESC_SM2_sml = sizeOfPDO (RX_PDO_OBJIDX);
ESC_SM3_sml = sizeOfPDO (TX_PDO_OBJIDX);
ESCvar.ESC_SM2_sml = sizeOfPDO (RX_PDO_OBJIDX);
ESCvar.ESC_SM3_sml = sizeOfPDO (TX_PDO_OBJIDX);
an = ESC_startinput (ac);
if (an == ac)
{
@ -1120,9 +1101,9 @@ void ESC_state (void)
}
/* Call post state change hook case it have been configured */
if (esc_cfg->post_state_change_hook != NULL)
if (ESCvar.post_state_change_hook != NULL)
{
esc_cfg->post_state_change_hook (&as, &an);
ESCvar.post_state_change_hook (&as, &an);
}
if (!(an & ESCerror) && (ESCvar.ALerror))
@ -1135,13 +1116,36 @@ void ESC_state (void)
}
/** Function copying the application configuration variable
* to the stack local pointer variable.
* data to the stack local variable.
*
* @param[in] cfg = Pointer to by the Application static declared
* configuration variable holding application specific details. Ex. post- and
* pre state change hooks
* @param[in] cfg = Pointer to the Application configuration variable
* holding application specific details. Data is copied.
*/
void ESC_config (esc_cfg_t * cfg)
{
esc_cfg = cfg;
/* Copy configuration data */
ESCvar.use_interrupt = cfg->use_interrupt;
ESCvar.watchdogcnt = cfg->watchdog_cnt;
ESCvar.mbxsize = cfg->mbxsize;
ESCvar.mbxsizeboot = cfg->mbxsizeboot;
ESCvar.mbxbuffers = cfg->mbxbuffers;
ESCvar.mb[0] = cfg->mb[0];
ESCvar.mb[1] = cfg->mb[1];
ESCvar.mbboot[0] = cfg->mb_boot[0];
ESCvar.mbboot[1] = cfg->mb_boot[1];
ESCvar.pdosm[0] = cfg->pdosm[0];
ESCvar.pdosm[1] = cfg->pdosm[1];
ESCvar.pre_state_change_hook = cfg->pre_state_change_hook;
ESCvar.post_state_change_hook = cfg->post_state_change_hook;
ESCvar.application_hook = cfg->application_hook;
ESCvar.safeoutput_override = cfg->safeoutput_override;
ESCvar.pre_object_download_hook = cfg->pre_object_download_hook;
ESCvar.post_object_download_hook = cfg->post_object_download_hook;
ESCvar.rxpdo_override = cfg->rxpdo_override;
ESCvar.txpdo_override = cfg->txpdo_override;
ESCvar.esc_hw_interrupt_enable = cfg->esc_hw_interrupt_enable;
ESCvar.esc_hw_interrupt_disable = cfg->esc_hw_interrupt_disable;
ESCvar.esc_hw_eep_handler = cfg->esc_hw_eep_handler;
}

176
soes/esc.h
View File

@ -206,6 +206,48 @@
#define FOE_WAIT_FOR_FINAL_ACK 2
#define FOE_WAIT_FOR_DATA 3
#define APPSTATE_IDLE 0x00
#define APPSTATE_INPUT 0x01
#define APPSTATE_OUTPUT 0x02
typedef struct sm_cfg
{
uint16_t cfg_sma;
uint16_t cfg_sml;
uint16_t cfg_sme;
uint8_t cfg_smc;
uint8_t cfg_smact;
}sm_cfg_t;
typedef struct esc_cfg
{
void * user_arg;
int use_interrupt;
int watchdog_cnt;
size_t mbxsize;
size_t mbxsizeboot;
int mbxbuffers;
sm_cfg_t mb[2];
sm_cfg_t mb_boot[2];
sm_cfg_t pdosm[2];
void (*pre_state_change_hook) (uint8_t * as, uint8_t * an);
void (*post_state_change_hook) (uint8_t * as, uint8_t * an);
void (*application_hook) (void);
void (*safeoutput_override) (void);
int (*pre_object_download_hook) (uint16_t index, uint8_t subindex);
void (*post_object_download_hook) (uint16_t index, uint8_t subindex);
void (*rxpdo_override) (void);
void (*txpdo_override) (void);
void (*esc_hw_interrupt_enable) (uint32_t mask);
void (*esc_hw_interrupt_disable) (uint32_t mask);
void (*esc_hw_eep_handler) (void);
} esc_cfg_t;
typedef struct
{
uint8_t state;
} _App;
// Attention! this struct is always little-endian
CC_PACKED_BEGIN
typedef struct CC_PACKED
@ -292,7 +334,35 @@ CC_PACKED_END
CC_PACKED_BEGIN
typedef struct CC_PACKED
{
uint16_t ALevent;
/* Configuration input is saved so the user variable may go out-of-scope */
int use_interrupt;
size_t mbxsize;
size_t mbxsizeboot;
int mbxbuffers;
sm_cfg_t mb[2];
sm_cfg_t mbboot[2];
sm_cfg_t pdosm[2];
void (*pre_state_change_hook) (uint8_t * as, uint8_t * an);
void (*post_state_change_hook) (uint8_t * as, uint8_t * an);
void (*application_hook) (void);
void (*safeoutput_override) (void);
int (*pre_object_download_hook) (uint16_t index, uint8_t subindex);
void (*post_object_download_hook) (uint16_t index, uint8_t subindex);
void (*rxpdo_override) (void);
void (*txpdo_override) (void);
void (*esc_hw_interrupt_enable) (uint32_t mask);
void (*esc_hw_interrupt_disable) (uint32_t mask);
void (*esc_hw_eep_handler) (void);
uint8_t MBXrun;
size_t activembxsize;
sm_cfg_t * activemb0;
sm_cfg_t * activemb1;
uint16_t ESC_SM2_sml;
uint16_t ESC_SM3_sml;
uint16_t TXPDOsize;
uint16_t RXPDOsize;
uint8_t dcsync;
uint16_t synccounterlimit;
uint16_t ALstatus;
uint16_t ALcontrol;
uint16_t ALerror;
@ -325,10 +395,14 @@ typedef struct CC_PACKED
uint8_t SMtestresult;
int16_t temp;
uint16_t wdcnt;
uint32_t PrevTime;
uint32_t Time;
_ESCsm SM[4];
/* Volatile since it may be read from ISR */
volatile int watchdogcnt;
volatile uint32_t Time;
volatile uint16_t ALevent;
volatile int8_t synccounter;
volatile _App App;
} _ESCvar;
CC_PACKED_END
@ -481,58 +555,23 @@ typedef struct
uint8_t state;
} _MBXcontrol;
typedef struct sm_cfg
{
uint16_t cfg_sma;
uint16_t cfg_sml;
uint16_t cfg_sme;
uint8_t cfg_smc;
uint8_t cfg_smact;
}sm_cfg_t;
typedef struct esc_cfg
{
void * user_arg;
int use_interrupt;
int watchdog_cnt;
size_t mbxsize;
size_t mbxsizeboot;
int mbxbuffers;
sm_cfg_t mb[2];
sm_cfg_t mb_boot[2];
sm_cfg_t pdosm[2];
void (*pre_state_change_hook) (uint8_t * as, uint8_t * an);
void (*post_state_change_hook) (uint8_t * as, uint8_t * an);
void (*application_hook) (void);
void (*safeoutput_override) (void);
int (*pre_object_download_hook) (uint16_t index, uint8_t subindex);
void (*post_object_download_hook) (uint16_t index, uint8_t subindex);
void (*rxpdo_override) (void);
void (*txpdo_override) (void);
void (*esc_hw_interrupt_enable) (uint32_t mask);
void (*esc_hw_interrupt_disable) (uint32_t mask);
void (*esc_hw_eep_handler) (void);
} esc_cfg_t;
/* Stack reference to application configuration of the ESC */
extern esc_cfg_t * esc_cfg;
extern size_t ESC_MBXSIZE;
extern uint16_t ESC_MBX0_sma;
extern uint16_t ESC_MBX0_sml;
extern uint16_t ESC_MBX0_sme;
extern uint8_t ESC_MBX0_smc;
extern uint16_t ESC_MBX1_sma;
extern uint16_t ESC_MBX1_sml;
extern uint16_t ESC_MBX1_sme;
extern uint8_t ESC_MBX1_smc;
#define ESC_MBXBUFFERS (esc_cfg->mbxbuffers)
#define ESC_SM2_sma (esc_cfg->pdosm[0].cfg_sma)
#define ESC_SM2_smc (esc_cfg->pdosm[0].cfg_smc)
#define ESC_SM2_act (esc_cfg->pdosm[0].cfg_smact)
#define ESC_SM3_sma (esc_cfg->pdosm[1].cfg_sma)
#define ESC_SM3_smc (esc_cfg->pdosm[1].cfg_smc)
#define ESC_SM3_act (esc_cfg->pdosm[1].cfg_smact)
#define ESC_MBXSIZE (ESCvar.activembxsize)
#define ESC_MBX0_sma (ESCvar.activemb0->cfg_sma)
#define ESC_MBX0_sml (ESCvar.activemb0->cfg_sml)
#define ESC_MBX0_sme (ESCvar.activemb0->cfg_sme)
#define ESC_MBX0_smc (ESCvar.activemb0->cfg_smc)
#define ESC_MBX1_sma (ESCvar.activemb1->cfg_sma)
#define ESC_MBX1_sml (ESCvar.activemb1->cfg_sml)
#define ESC_MBX1_sme (ESCvar.activemb1->cfg_sme)
#define ESC_MBX1_smc (ESCvar.activemb1->cfg_smc)
#define ESC_MBXBUFFERS (ESCvar.mbxbuffers)
#define ESC_SM2_sma (ESCvar.pdosm[0].cfg_sma)
#define ESC_SM2_smc (ESCvar.pdosm[0].cfg_smc)
#define ESC_SM2_act (ESCvar.pdosm[0].cfg_smact)
#define ESC_SM3_sma (ESCvar.pdosm[1].cfg_sma)
#define ESC_SM3_smc (ESCvar.pdosm[1].cfg_smc)
#define ESC_SM3_act (ESCvar.pdosm[1].cfg_smact)
#define ESC_MBXHSIZE sizeof(_MBXh)
#define ESC_MBXDSIZE (ESC_MBXSIZE - ESC_MBXHSIZE)
@ -569,34 +608,9 @@ void ESC_reset (void);
/* From application */
extern void APP_safeoutput ();
extern volatile _ESCvar ESCvar;
extern uint8_t MBX[];
extern _ESCvar ESCvar;
extern _MBXcontrol MBXcontrol[];
extern uint8_t MBXrun;
extern uint16_t ESC_SM2_sml, ESC_SM3_sml;
extern uint8_t dc_sync;
extern int8_t sync_counter;
extern uint16_t sync_counter_limit;
extern uint16_t TXPDOsize;
extern uint16_t RXPDOsize;
typedef struct
{
uint8_t state;
} _App;
#define APPSTATE_IDLE 0x00
#define APPSTATE_INPUT 0x01
#define APPSTATE_OUTPUT 0x02
extern _App App;
void DIG_process (uint8_t flags);
#define DIG_PROCESS_INPUTS_FLAG 0x01
#define DIG_PROCESS_OUTPUTS_FLAG 0x02
#define DIG_PROCESS_WD_FLAG 0x04
#define DIG_PROCESS_APP_HOOK_FLAG 0x08
extern uint8_t MBX[];
/* ATOMIC operations are used when running interrupt driven */
#ifndef CC_ATOMIC_SET

2
soes/esc_coe.c
View File

@ -850,7 +850,7 @@ void ESC_coeprocess (void)
_COEsdo *coesdo;
_COEobjdesc *coeobjdesc;
uint8_t service;
if (!MBXrun)
if (ESCvar.MBXrun == 0)
{
return;
}

2
soes/esc_foe.c
View File

@ -563,7 +563,7 @@ void ESC_foeprocess (void)
_MBXh *mbh;
_FOE *foembx;
if (!MBXrun)
if (ESCvar.MBXrun == 0)
{
return;
}

5
soes/hal/linux-lan9252/esc_hw.c
View File

@ -10,7 +10,6 @@
* Function to read and write commands to the ESC. Used to read/write ESC
* registers and memory.
*/
#include "utypes.h"
#include "esc.h"
#include <string.h>
#include <fcntl.h>
@ -426,10 +425,10 @@ void ESC_reset (void)
}
void ESC_init (const void * arg)
void ESC_init (const esc_cfg_t * config)
{
uint32_t value;
const char * spi_name = (char *)arg;
const char * spi_name = (char *)config->user_arg;
lan9252 = open (spi_name, O_RDWR, 0);
/* Reset the ecat core here due to evb-lan9252-digio not having any GPIO

5
soes/hal/rt-kernel-lan9252/esc_hw.c
View File

@ -11,7 +11,6 @@
* registers and memory.
*/
#include "utypes.h"
#include "esc.h"
#include <spi/spi.h>
#include <string.h>
@ -390,10 +389,10 @@ void ESC_reset (void)
}
void ESC_init (const void * arg)
void ESC_init (const esc_cfg_t * config)
{
uint32_t value;
const char * spi_name = (char *)arg;
const char * spi_name = (char *)config->user_arg;
lan9252 = open (spi_name, O_RDWR, 0);
/* Reset the ecat core here due to evb-lan9252-digio not having any GPIO

5
soes/hal/rt-kernel-twrk60/esc_hw.c
View File

@ -11,7 +11,6 @@
* registers and memory.
*/
#include "utypes.h"
#include "../../esc.h"
#include <spi/spi.h>
#include <string.h>
@ -119,9 +118,9 @@ void ESC_reset (void)
DPRINT("esc_reset_ended\n");
}
void ESC_init (const void * arg)
void ESC_init (const esc_cfg_t * config)
{
const char * spi_name = (char *)arg;
const char * spi_name = (char *)config->user_arg;
et1100 = open (spi_name, O_RDWR, 0);
read_termination[sizeof(read_termination) - 1] = 0xFF;
}

2
soes/hal/rt-kernel-xmc4/esc_hw.c
View File

@ -210,7 +210,7 @@ static void ecat_isr (void * arg)
if(ESCvar.ALevent & ESCREG_ALEVENT_SM2)
{
if(dc_sync == 0)
if(ESCvar.dcsync == 0)
{
DIG_process(DIG_PROCESS_OUTPUTS_FLAG | DIG_PROCESS_APP_HOOK_FLAG |
DIG_PROCESS_INPUTS_FLAG);

7
soes/include/sys/gcc/cc.h
View File

@ -1,3 +1,8 @@
/*
* Licensed under the GNU General Public License version 2 with exceptions. See
* LICENSE file in the project root for full license information
*/
#ifndef CC_H
#define CC_H
@ -8,6 +13,8 @@ extern "C"
#include <assert.h>
#include <stdint.h>
#include <stddef.h>
#include <sys/param.h>
#ifdef __linux__
#include <endian.h>
#else